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nxt.urdf

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Apr 11th, 2012
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  1. <!--this file was autogenerated from simple_car.lxf -->
  2. <robot name="simple_car"
  3.    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
  4.    xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
  5.    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
  6.  
  7.     <link name="base_link">
  8.         <inertial>
  9.             <mass value="0.0001" />
  10.             <origin xyz="0 0 0" />
  11.             <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
  12.                     iyy="0.0001" iyz="0.0"
  13.                     izz="0.0001" />
  14.         </inertial>
  15.  
  16.        <visual>
  17.             <origin xyz="0 0 0" rpy="0 0 0" />
  18.             <geometry>
  19.                 <box size="0.001 0.001 0.001" />
  20.             </geometry>
  21.         </visual>
  22.  
  23.        <collision>
  24.             <origin xyz="0 0 0" rpy="0 0 0" />
  25.             <geometry>
  26.               <box size="0 0 0" />
  27.             </geometry>
  28.         </collision>
  29.     </link>
  30.     <joint name="base_joint" type="fixed">
  31.       <parent link="base_link"/>
  32.       <child link="ref_0_link"/>
  33.       <origin xyz="0 0 0" rpy="0 0 -1.57079632679" />
  34.       <axis xyz="0 0 1" />
  35.     </joint>
  36.  
  37.  
  38.     <link name="ref_0_link">
  39.       <inertial>
  40.         <mass value="0.010000" />
  41.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  42.         <origin xyz="0.0 0.0 0" />
  43.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  44.       </inertial>
  45.       <visual>
  46.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  47.         <origin xyz="0 0 0" rpy="0 0 0" />
  48.         <geometry>
  49.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  50.         </geometry>
  51.       </visual>
  52.       <collision>
  53.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  54.         <origin xyz="0 0 0" rpy="0 0 0" />
  55.         <geometry>
  56.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  57.         </geometry>
  58.       </collision>
  59.     </link>
  60.  
  61.  
  62.     <link name="ref_1_link">
  63.       <inertial>
  64.         <mass value="0.010000" />
  65.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  66.         <origin xyz="0.0 0.0 0" />
  67.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  68.       </inertial>
  69.       <visual>
  70.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  71.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  72.         <geometry>
  73.           <mesh filename="package://nxt_description/meshes/parts/32140.dae" scale=" 0.0004  0.0004  0.0004"/>
  74.         </geometry>
  75.       </visual>
  76.       <collision>
  77.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  78.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  79.         <geometry>
  80.           <mesh filename="package://nxt_description/meshes/parts/32140.dae" scale=" 0.0004  0.0004  0.0004"/>
  81.         </geometry>
  82.       </collision>
  83.     </link>
  84.  
  85.  
  86.     <link name="ref_2_link">
  87.       <inertial>
  88.         <mass value="0.010000" />
  89.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  90.         <origin xyz="0.0 0.0 0" />
  91.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  92.       </inertial>
  93.       <visual>
  94.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  95.         <origin xyz="0 0 0" rpy="0 0 0" />
  96.         <geometry>
  97.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  98.         </geometry>
  99.       </visual>
  100.       <collision>
  101.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  102.         <origin xyz="0 0 0" rpy="0 0 0" />
  103.         <geometry>
  104.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  105.         </geometry>
  106.       </collision>
  107.     </link>
  108.  
  109.  
  110.     <link name="ref_3_link">
  111.       <inertial>
  112.         <mass value="0.010000" />
  113.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  114.         <origin xyz="0.0 0.0 0" />
  115.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  116.       </inertial>
  117.       <visual>
  118.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  119.         <origin xyz="0 0 0" rpy="0 0 0" />
  120.         <geometry>
  121.           <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale=" 0.0004  0.0004  0.0004"/>
  122.         </geometry>
  123.       </visual>
  124.       <collision>
  125.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  126.         <origin xyz="0 0 0" rpy="0 0 0" />
  127.         <geometry>
  128.           <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale=" 0.0004  0.0004  0.0004"/>
  129.         </geometry>
  130.       </collision>
  131.     </link>
  132.  
  133.  
  134.     <link name="ref_4_link">
  135.       <inertial>
  136.         <mass value="0.010000" />
  137.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  138.         <origin xyz="0.0 0.0 0" />
  139.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  140.       </inertial>
  141.       <visual>
  142.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  143.         <origin xyz="0 0 0" rpy="0 0 0" />
  144.         <geometry>
  145.           <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004  0.0004  0.0004"/>
  146.         </geometry>
  147.       </visual>
  148.       <collision>
  149.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  150.         <origin xyz="0 0 0" rpy="0 0 0" />
  151.         <geometry>
  152.           <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004  0.0004  0.0004"/>
  153.         </geometry>
  154.       </collision>
  155.     </link>
  156.  
  157.  
  158.     <link name="ref_5_link">
  159.       <inertial>
  160.         <mass value="0.010000" />
  161.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  162.         <origin xyz="0.0 0.0 0" />
  163.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  164.       </inertial>
  165.       <visual>
  166.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  167.         <origin xyz="0 0 0" rpy="0 0 0" />
  168.         <geometry>
  169.           <mesh filename="package://nxt_description/meshes/parts/32498.dae" scale=" 0.0004  0.0004  0.0004"/>
  170.         </geometry>
  171.       </visual>
  172.       <collision>
  173.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  174.         <origin xyz="0 0 0" rpy="0 0 0" />
  175.         <geometry>
  176.           <mesh filename="package://nxt_description/meshes/parts/32498.dae" scale=" 0.0004  0.0004  0.0004"/>
  177.         </geometry>
  178.       </collision>
  179.     </link>
  180.  
  181.  
  182.     <link name="ref_6_link">
  183.       <inertial>
  184.         <mass value="0.010000" />
  185.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  186.         <origin xyz="0.0 0.0 0" />
  187.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  188.       </inertial>
  189.       <visual>
  190.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  191.         <origin xyz="0 0 0" rpy="0 0 0" />
  192.         <geometry>
  193.           <mesh filename="package://nxt_description/meshes/parts/32136.dae" scale=" 0.0004  0.0004  0.0004"/>
  194.         </geometry>
  195.       </visual>
  196.       <collision>
  197.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  198.         <origin xyz="0 0 0" rpy="0 0 0" />
  199.         <geometry>
  200.           <mesh filename="package://nxt_description/meshes/parts/32136.dae" scale=" 0.0004  0.0004  0.0004"/>
  201.         </geometry>
  202.       </collision>
  203.     </link>
  204.  
  205.  
  206.     <link name="ref_7_link">
  207.       <inertial>
  208.         <mass value="0.010000" />
  209.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  210.         <origin xyz="0.0 0.0 0" />
  211.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  212.       </inertial>
  213.       <visual>
  214.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  215.         <origin xyz="0 0 0" rpy="0 0 0" />
  216.         <geometry>
  217.           <mesh filename="package://nxt_description/meshes/parts/32525.dae" scale=" 0.0004  0.0004  0.0004"/>
  218.         </geometry>
  219.       </visual>
  220.       <collision>
  221.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  222.         <origin xyz="0 0 0" rpy="0 0 0" />
  223.         <geometry>
  224.           <mesh filename="package://nxt_description/meshes/parts/32525.dae" scale=" 0.0004  0.0004  0.0004"/>
  225.         </geometry>
  226.       </collision>
  227.     </link>
  228.  
  229.  
  230.     <link name="ref_8_link">
  231.       <inertial>
  232.         <mass value="0.010000" />
  233.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  234.         <origin xyz="0.0 0.0 0" />
  235.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  236.       </inertial>
  237.       <visual>
  238.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  239.         <origin xyz="0 0 0" rpy="0 0 0" />
  240.         <geometry>
  241.           <mesh filename="package://nxt_description/meshes/parts/32525.dae" scale=" 0.0004  0.0004  0.0004"/>
  242.         </geometry>
  243.       </visual>
  244.       <collision>
  245.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  246.         <origin xyz="0 0 0" rpy="0 0 0" />
  247.         <geometry>
  248.           <mesh filename="package://nxt_description/meshes/parts/32525.dae" scale=" 0.0004  0.0004  0.0004"/>
  249.         </geometry>
  250.       </collision>
  251.     </link>
  252.  
  253.  
  254.     <link name="ref_9_link">
  255.       <inertial>
  256.         <mass value="0.010000" />
  257.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  258.         <origin xyz="0.0 0.0 0" />
  259.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  260.       </inertial>
  261.       <visual>
  262.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  263.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  264.         <geometry>
  265.           <mesh filename="package://nxt_description/meshes/parts/32348.dae" scale=" 0.0004  0.0004  0.0004"/>
  266.         </geometry>
  267.       </visual>
  268.       <collision>
  269.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  270.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  271.         <geometry>
  272.           <mesh filename="package://nxt_description/meshes/parts/32348.dae" scale=" 0.0004  0.0004  0.0004"/>
  273.         </geometry>
  274.       </collision>
  275.     </link>
  276.  
  277.  
  278.     <link name="ref_10_link">
  279.       <inertial>
  280.         <mass value="0.010000" />
  281.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  282.         <origin xyz="0.0 0.0 0" />
  283.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  284.       </inertial>
  285.       <visual>
  286.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  287.         <origin xyz="0 0 0" rpy="0 0 0" />
  288.         <geometry>
  289.           <mesh filename="package://nxt_description/meshes/parts/32062.dae" scale=" 0.0004  0.0004  0.0004"/>
  290.         </geometry>
  291.       </visual>
  292.       <collision>
  293.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  294.         <origin xyz="0 0 0" rpy="0 0 0" />
  295.         <geometry>
  296.           <mesh filename="package://nxt_description/meshes/parts/32062.dae" scale=" 0.0004  0.0004  0.0004"/>
  297.         </geometry>
  298.       </collision>
  299.     </link>
  300.  
  301.  
  302.     <link name="ref_11_link">
  303.       <inertial>
  304.         <mass value="0.010000" />
  305.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  306.         <origin xyz="0.0 0.0 0" />
  307.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  308.       </inertial>
  309.       <visual>
  310.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  311.         <origin xyz="0 0 0" rpy="0 0 0" />
  312.         <geometry>
  313.           <mesh filename="package://nxt_description/meshes/parts/60483.dae" scale=" 0.0004  0.0004  0.0004"/>
  314.         </geometry>
  315.       </visual>
  316.       <collision>
  317.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  318.         <origin xyz="0 0 0" rpy="0 0 0" />
  319.         <geometry>
  320.           <mesh filename="package://nxt_description/meshes/parts/60483.dae" scale=" 0.0004  0.0004  0.0004"/>
  321.         </geometry>
  322.       </collision>
  323.     </link>
  324.  
  325.  
  326.     <link name="ref_12_link">
  327.       <inertial>
  328.         <mass value="0.010000" />
  329.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  330.         <origin xyz="0.0 0.0 0" />
  331.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  332.       </inertial>
  333.       <visual>
  334.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  335.         <origin xyz="0 0 0" rpy="0 0 0" />
  336.         <geometry>
  337.           <mesh filename="package://nxt_description/meshes/parts/48989.dae" scale=" 0.0004  0.0004  0.0004"/>
  338.         </geometry>
  339.       </visual>
  340.       <collision>
  341.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  342.         <origin xyz="0 0 0" rpy="0 0 0" />
  343.         <geometry>
  344.           <mesh filename="package://nxt_description/meshes/parts/48989.dae" scale=" 0.0004  0.0004  0.0004"/>
  345.         </geometry>
  346.       </collision>
  347.     </link>
  348.  
  349.  
  350.     <link name="ref_13_link">
  351.       <inertial>
  352.         <mass value="0.010000" />
  353.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  354.         <origin xyz="0.0 0.0 0" />
  355.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  356.       </inertial>
  357.       <visual>
  358.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  359.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  360.         <geometry>
  361.           <mesh filename="package://nxt_description/meshes/parts/32348.dae" scale=" 0.0004  0.0004  0.0004"/>
  362.         </geometry>
  363.       </visual>
  364.       <collision>
  365.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  366.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  367.         <geometry>
  368.           <mesh filename="package://nxt_description/meshes/parts/32348.dae" scale=" 0.0004  0.0004  0.0004"/>
  369.         </geometry>
  370.       </collision>
  371.     </link>
  372.  
  373.  
  374.     <link name="ref_14_link">
  375.       <inertial>
  376.         <mass value="0.010000" />
  377.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  378.         <origin xyz="0.0 0.0 0" />
  379.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  380.       </inertial>
  381.       <visual>
  382.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  383.         <origin xyz="0 0 0" rpy="0 0 0" />
  384.         <geometry>
  385.           <mesh filename="package://nxt_description/meshes/parts/32062.dae" scale=" 0.0004  0.0004  0.0004"/>
  386.         </geometry>
  387.       </visual>
  388.       <collision>
  389.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  390.         <origin xyz="0 0 0" rpy="0 0 0" />
  391.         <geometry>
  392.           <mesh filename="package://nxt_description/meshes/parts/32062.dae" scale=" 0.0004  0.0004  0.0004"/>
  393.         </geometry>
  394.       </collision>
  395.     </link>
  396.  
  397.  
  398.     <link name="ref_15_link">
  399.       <inertial>
  400.         <mass value="0.010000" />
  401.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  402.         <origin xyz="0.0 0.0 0" />
  403.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  404.       </inertial>
  405.       <visual>
  406.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  407.         <origin xyz="0 0 0" rpy="0 0 0" />
  408.         <geometry>
  409.           <mesh filename="package://nxt_description/meshes/parts/60483.dae" scale=" 0.0004  0.0004  0.0004"/>
  410.         </geometry>
  411.       </visual>
  412.       <collision>
  413.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  414.         <origin xyz="0 0 0" rpy="0 0 0" />
  415.         <geometry>
  416.           <mesh filename="package://nxt_description/meshes/parts/60483.dae" scale=" 0.0004  0.0004  0.0004"/>
  417.         </geometry>
  418.       </collision>
  419.     </link>
  420.  
  421.  
  422.     <link name="ref_16_link">
  423.       <inertial>
  424.         <mass value="0.010000" />
  425.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  426.         <origin xyz="0.0 0.0 0" />
  427.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  428.       </inertial>
  429.       <visual>
  430.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  431.         <origin xyz="0 0 0" rpy="0 0 0" />
  432.         <geometry>
  433.           <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004  0.0004  0.0004"/>
  434.         </geometry>
  435.       </visual>
  436.       <collision>
  437.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  438.         <origin xyz="0 0 0" rpy="0 0 0" />
  439.         <geometry>
  440.           <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004  0.0004  0.0004"/>
  441.         </geometry>
  442.       </collision>
  443.     </link>
  444.  
  445.  
  446.     <link name="ref_17_link">
  447.       <inertial>
  448.         <mass value="0.010000" />
  449.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  450.         <origin xyz="0.0 0.0 0" />
  451.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  452.       </inertial>
  453.       <visual>
  454.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  455.         <origin xyz="0 0 0" rpy="0 0 0" />
  456.         <geometry>
  457.           <mesh filename="package://nxt_description/meshes/parts/32073.dae" scale=" 0.0004  0.0004  0.0004"/>
  458.         </geometry>
  459.       </visual>
  460.       <collision>
  461.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  462.         <origin xyz="0 0 0" rpy="0 0 0" />
  463.         <geometry>
  464.           <mesh filename="package://nxt_description/meshes/parts/32073.dae" scale=" 0.0004  0.0004  0.0004"/>
  465.         </geometry>
  466.       </collision>
  467.     </link>
  468.  
  469.  
  470.     <link name="ref_18_link">
  471.       <inertial>
  472.         <mass value="0.010000" />
  473.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  474.         <origin xyz="0.0 0.0 0" />
  475.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  476.       </inertial>
  477.       <visual>
  478.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  479.         <origin xyz="0 0 0" rpy="0 0 0" />
  480.         <geometry>
  481.           <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004  0.0004  0.0004"/>
  482.         </geometry>
  483.       </visual>
  484.       <collision>
  485.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  486.         <origin xyz="0 0 0" rpy="0 0 0" />
  487.         <geometry>
  488.           <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004  0.0004  0.0004"/>
  489.         </geometry>
  490.       </collision>
  491.     </link>
  492.  
  493.  
  494.     <link name="caster_wheel_link">
  495.       <inertial>
  496.         <mass value="0.010000" />
  497.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  498.         <origin xyz="0.0 0.0 0" />
  499.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  500.       </inertial>
  501.       <visual>
  502.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  503.         <origin xyz="0 0 0" rpy="0 0 0" />
  504.         <geometry>
  505.           <mesh filename="package://nxt_description/meshes/parts/32498.dae" scale=" 0.0004  0.0004  0.0004"/>
  506.         </geometry>
  507.       </visual>
  508.       <collision>
  509.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  510.         <origin xyz="0 0 0" rpy="0 0 0" />
  511.         <geometry>
  512.           <mesh filename="package://nxt_description/meshes/parts/32498.dae" scale=" 0.0004  0.0004  0.0004"/>
  513.         </geometry>
  514.       </collision>
  515.     </link>
  516.  
  517.  
  518.     <link name="ref_20_link">
  519.       <inertial>
  520.         <mass value="0.010000" />
  521.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  522.         <origin xyz="0.0 0.0 0" />
  523.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  524.       </inertial>
  525.       <visual>
  526.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  527.         <origin xyz="0 0 0" rpy="0 0 0" />
  528.         <geometry>
  529.           <mesh filename="package://nxt_description/meshes/parts/32073.dae" scale=" 0.0004  0.0004  0.0004"/>
  530.         </geometry>
  531.       </visual>
  532.       <collision>
  533.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  534.         <origin xyz="0 0 0" rpy="0 0 0" />
  535.         <geometry>
  536.           <mesh filename="package://nxt_description/meshes/parts/32498.dae" scale=" 0.0004  0.0004  0.0004"/>
  537.         </geometry>
  538.       </collision>
  539.     </link>
  540.  
  541.  
  542.     <link name="ref_21_link">
  543.       <inertial>
  544.         <mass value="0.010000" />
  545.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  546.         <origin xyz="0.0 0.0 0" />
  547.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  548.       </inertial>
  549.       <visual>
  550.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  551.         <origin xyz="0 0 0" rpy="0 0 0" />
  552.         <geometry>
  553.           <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004  0.0004  0.0004"/>
  554.         </geometry>
  555.       </visual>
  556.       <collision>
  557.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  558.         <origin xyz="0 0 0" rpy="0 0 0" />
  559.         <geometry>
  560.           <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004  0.0004  0.0004"/>
  561.         </geometry>
  562.       </collision>
  563.     </link>
  564.  
  565.  
  566.     <link name="ref_22_link">
  567.       <inertial>
  568.         <mass value="0.010000" />
  569.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  570.         <origin xyz="0.0 0.0 0" />
  571.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  572.       </inertial>
  573.       <visual>
  574.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  575.         <origin xyz="0 0 0" rpy="0 0 0" />
  576.         <geometry>
  577.           <mesh filename="package://nxt_description/meshes/parts/42003.dae" scale=" 0.0004  0.0004  0.0004"/>
  578.         </geometry>
  579.       </visual>
  580.       <collision>
  581.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  582.         <origin xyz="0 0 0" rpy="0 0 0" />
  583.         <geometry>
  584.           <mesh filename="package://nxt_description/meshes/parts/42003.dae" scale=" 0.0004  0.0004  0.0004"/>
  585.         </geometry>
  586.       </collision>
  587.     </link>
  588.  
  589.  
  590.     <link name="ref_23_link">
  591.       <inertial>
  592.         <mass value="0.010000" />
  593.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  594.         <origin xyz="0.0 0.0 0" />
  595.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  596.       </inertial>
  597.       <visual>
  598.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  599.         <origin xyz="0 0 0" rpy="0 0 0" />
  600.         <geometry>
  601.           <mesh filename="package://nxt_description/meshes/parts/42003.dae" scale=" 0.0004  0.0004  0.0004"/>
  602.         </geometry>
  603.       </visual>
  604.       <collision>
  605.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  606.         <origin xyz="0 0 0" rpy="0 0 0" />
  607.         <geometry>
  608.           <mesh filename="package://nxt_description/meshes/parts/42003.dae" scale=" 0.0004  0.0004  0.0004"/>
  609.         </geometry>
  610.       </collision>
  611.     </link>
  612.  
  613.  
  614.     <link name="ref_24_link">
  615.       <inertial>
  616.         <mass value="0.010000" />
  617.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  618.         <origin xyz="0.0 0.0 0" />
  619.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  620.       </inertial>
  621.       <visual>
  622.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  623.         <origin xyz="0 0 0" rpy="0 0 0" />
  624.         <geometry>
  625.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  626.         </geometry>
  627.       </visual>
  628.       <collision>
  629.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  630.         <origin xyz="0 0 0" rpy="0 0 0" />
  631.         <geometry>
  632.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  633.         </geometry>
  634.       </collision>
  635.     </link>
  636.  
  637.  
  638.     <link name="ref_25_link">
  639.       <inertial>
  640.         <mass value="0.010000" />
  641.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  642.         <origin xyz="0.0 0.0 0" />
  643.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  644.       </inertial>
  645.       <visual>
  646.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  647.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  648.         <geometry>
  649.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  650.         </geometry>
  651.       </visual>
  652.       <collision>
  653.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  654.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  655.         <geometry>
  656.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  657.         </geometry>
  658.       </collision>
  659.     </link>
  660.  
  661.  
  662.     <link name="ref_26_link">
  663.       <inertial>
  664.         <mass value="0.010000" />
  665.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  666.         <origin xyz="0.0 0.0 0" />
  667.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  668.       </inertial>
  669.       <visual>
  670.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  671.         <origin xyz="0 0 0" rpy="0 0 0" />
  672.         <geometry>
  673.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  674.         </geometry>
  675.       </visual>
  676.       <collision>
  677.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  678.         <origin xyz="0 0 0" rpy="0 0 0" />
  679.         <geometry>
  680.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  681.         </geometry>
  682.       </collision>
  683.     </link>
  684.  
  685.  
  686.     <link name="ref_27_link">
  687.       <inertial>
  688.         <mass value="0.010000" />
  689.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  690.         <origin xyz="0.0 0.0 0" />
  691.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  692.       </inertial>
  693.       <visual>
  694.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  695.         <origin xyz="0 0 0" rpy="0 0 0" />
  696.         <geometry>
  697.           <mesh filename="package://nxt_description/meshes/parts/32525.dae" scale=" 0.0004  0.0004  0.0004"/>
  698.         </geometry>
  699.       </visual>
  700.       <collision>
  701.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  702.         <origin xyz="0 0 0" rpy="0 0 0" />
  703.         <geometry>
  704.           <mesh filename="package://nxt_description/meshes/parts/32525.dae" scale=" 0.0004  0.0004  0.0004"/>
  705.         </geometry>
  706.       </collision>
  707.     </link>
  708.  
  709.  
  710.     <link name="ref_28_link">
  711.       <inertial>
  712.         <mass value="0.010000" />
  713.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  714.         <origin xyz="0.0 0.0 0" />
  715.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  716.       </inertial>
  717.       <visual>
  718.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  719.         <origin xyz="0 0 0" rpy="0 0 0" />
  720.         <geometry>
  721.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  722.         </geometry>
  723.       </visual>
  724.       <collision>
  725.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  726.         <origin xyz="0 0 0" rpy="0 0 0" />
  727.         <geometry>
  728.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  729.         </geometry>
  730.       </collision>
  731.     </link>
  732.  
  733.  
  734.     <link name="ref_29_link">
  735.       <inertial>
  736.         <mass value="0.010000" />
  737.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  738.         <origin xyz="0.0 0.0 0" />
  739.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  740.       </inertial>
  741.       <visual>
  742.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  743.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  744.         <geometry>
  745.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  746.         </geometry>
  747.       </visual>
  748.       <collision>
  749.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  750.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  751.         <geometry>
  752.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  753.         </geometry>
  754.       </collision>
  755.     </link>
  756.  
  757.  
  758.     <link name="ref_30_link">
  759.       <inertial>
  760.         <mass value="0.010000" />
  761.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  762.         <origin xyz="0.0 0.0 0" />
  763.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  764.       </inertial>
  765.       <visual>
  766.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  767.         <origin xyz="0 0 0" rpy="0 0 0" />
  768.         <geometry>
  769.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  770.         </geometry>
  771.       </visual>
  772.       <collision>
  773.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  774.         <origin xyz="0 0 0" rpy="0 0 0" />
  775.         <geometry>
  776.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  777.         </geometry>
  778.       </collision>
  779.     </link>
  780.  
  781.  
  782.     <link name="ref_31_link">
  783.       <inertial>
  784.         <mass value="0.010000" />
  785.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  786.         <origin xyz="0.0 0.0 0" />
  787.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  788.       </inertial>
  789.       <visual>
  790.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  791.         <origin xyz="0 0 0" rpy="0 0 0" />
  792.         <geometry>
  793.           <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale=" 0.0004  0.0004  0.0004"/>
  794.         </geometry>
  795.       </visual>
  796.       <collision>
  797.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  798.         <origin xyz="0 0 0" rpy="0 0 0" />
  799.         <geometry>
  800.           <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale=" 0.0004  0.0004  0.0004"/>
  801.         </geometry>
  802.       </collision>
  803.     </link>
  804.  
  805.  
  806.     <link name="ref_32_link">
  807.       <inertial>
  808.         <mass value="0.010000" />
  809.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  810.         <origin xyz="0.0 0.0 0" />
  811.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  812.       </inertial>
  813.       <visual>
  814.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  815.         <origin xyz="0 0 0" rpy="0 0 0" />
  816.         <geometry>
  817.           <mesh filename="package://nxt_description/meshes/parts/32073.dae" scale=" 0.0004  0.0004  0.0004"/>
  818.         </geometry>
  819.       </visual>
  820.       <collision>
  821.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  822.         <origin xyz="0 0 0" rpy="0 0 0" />
  823.         <geometry>
  824.           <mesh filename="package://nxt_description/meshes/parts/32073.dae" scale=" 0.0004  0.0004  0.0004"/>
  825.         </geometry>
  826.       </collision>
  827.     </link>
  828.  
  829.  
  830.     <link name="ref_33_link">
  831.       <inertial>
  832.         <mass value="0.010000" />
  833.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  834.         <origin xyz="0.0 0.0 0" />
  835.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  836.       </inertial>
  837.       <visual>
  838.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  839.         <origin xyz="0 0 0" rpy="0 0 0" />
  840.         <geometry>
  841.           <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004  0.0004  0.0004"/>
  842.         </geometry>
  843.       </visual>
  844.       <collision>
  845.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  846.         <origin xyz="0 0 0" rpy="0 0 0" />
  847.         <geometry>
  848.           <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004  0.0004  0.0004"/>
  849.         </geometry>
  850.       </collision>
  851.     </link>
  852.  
  853.  
  854.     <link name="ref_34_link">
  855.       <inertial>
  856.         <mass value="0.010000" />
  857.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  858.         <origin xyz="0.0 0.0 0" />
  859.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  860.       </inertial>
  861.       <visual>
  862.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  863.         <origin xyz="0 0 0" rpy="0 0 0" />
  864.         <geometry>
  865.           <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale=" 0.0004  0.0004  0.0004"/>
  866.         </geometry>
  867.       </visual>
  868.       <collision>
  869.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  870.         <origin xyz="0 0 0" rpy="0 0 0" />
  871.         <geometry>
  872.           <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale=" 0.0004  0.0004  0.0004"/>
  873.         </geometry>
  874.       </collision>
  875.     </link>
  876.  
  877.  
  878.     <link name="ref_35_link">
  879.       <inertial>
  880.         <mass value="0.010000" />
  881.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  882.         <origin xyz="0.0 0.0 0" />
  883.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  884.       </inertial>
  885.       <visual>
  886.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  887.         <origin xyz="0 0 0" rpy="0 0 0" />
  888.         <geometry>
  889.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  890.         </geometry>
  891.       </visual>
  892.       <collision>
  893.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  894.         <origin xyz="0 0 0" rpy="0 0 0" />
  895.         <geometry>
  896.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  897.         </geometry>
  898.       </collision>
  899.     </link>
  900.  
  901.  
  902.     <link name="ref_36_link">
  903.       <inertial>
  904.         <mass value="0.010000" />
  905.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  906.         <origin xyz="0.0 0.0 0" />
  907.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  908.       </inertial>
  909.       <visual>
  910.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  911.         <origin xyz="0 0 0" rpy="0 0 0" />
  912.         <geometry>
  913.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  914.         </geometry>
  915.       </visual>
  916.       <collision>
  917.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  918.         <origin xyz="0 0 0" rpy="0 0 0" />
  919.         <geometry>
  920.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  921.         </geometry>
  922.       </collision>
  923.     </link>
  924.  
  925.  
  926.     <link name="ref_37_link">
  927.       <inertial>
  928.         <mass value="0.010000" />
  929.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  930.         <origin xyz="0.0 0.0 0" />
  931.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  932.       </inertial>
  933.       <visual>
  934.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  935.         <origin xyz="0 0 0" rpy="0 0 0" />
  936.         <geometry>
  937.           <mesh filename="package://nxt_description/meshes/parts/53787.dae" scale=" 0.0004  0.0004  0.0004"/>
  938.         </geometry>
  939.       </visual>
  940.       <collision>
  941.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  942.         <origin xyz="0 0 0" rpy="0 0 0" />
  943.         <geometry>
  944.           <mesh filename="package://nxt_description/meshes/parts/53787.dae" scale=" 0.0004  0.0004  0.0004"/>
  945.         </geometry>
  946.       </collision>
  947.     </link>
  948.  
  949.     <link name="ref_37_link_hub">
  950.       <inertial>
  951.         <mass value="0.010000" />
  952.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  953.         <origin xyz="0.0 0.0 0" />
  954.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  955.       </inertial>
  956.       <visual>
  957.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  958.         <origin xyz="0 0 0" rpy="0 0 0" />
  959.         <geometry>
  960.           <mesh filename="package://nxt_description/meshes/parts/servo_hubs.dae" scale=" 0.0004  0.0004  0.0004"/>
  961.         </geometry>
  962.       </visual>
  963.       <collision>
  964.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  965.         <origin xyz="0 0 0" rpy="0 0 0" />
  966.         <geometry>
  967.           <mesh filename="package://nxt_description/meshes/parts/servo_hubs.dae" scale=" 0.0004  0.0004  0.0004"/>
  968.         </geometry>
  969.       </collision>
  970.     </link>
  971.  
  972.     <!--THIS IS THE MOTOR JOINT RENAME AND FIX BY 180 WHEN NEEDED-->
  973.     <joint name="right_wheel_joint" type="continuous">
  974.       <parent link="ref_37_link"/>
  975.       <child link="ref_37_link_hub"/>
  976.       <origin xyz="0 0 0" rpy="0 0 0" />
  977.       <axis xyz="1 0 0" />
  978.     </joint>
  979.    
  980.     <transmission type="pr2_mechanism_model/SimpleTransmission" name="right_wheel_trans">
  981.       <actuator name="right_wheel_motor" />
  982.       <joint name="right_wheel_joint" />
  983.       <mechanicalReduction>1.0</mechanicalReduction>
  984.     </transmission>
  985.  
  986.  
  987.  
  988.     <link name="ref_38_link">
  989.       <inertial>
  990.         <mass value="0.010000" />
  991.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  992.         <origin xyz="0.0 0.0 0" />
  993.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  994.       </inertial>
  995.       <visual>
  996.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  997.         <origin xyz="0 0 0" rpy="0 0 0" />
  998.         <geometry>
  999.           <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004  0.0004  0.0004"/>
  1000.         </geometry>
  1001.       </visual>
  1002.       <collision>
  1003.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1004.         <origin xyz="0 0 0" rpy="0 0 0" />
  1005.         <geometry>
  1006.           <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004  0.0004  0.0004"/>
  1007.         </geometry>
  1008.       </collision>
  1009.     </link>
  1010.  
  1011.  
  1012.     <link name="ref_39_link">
  1013.       <inertial>
  1014.         <mass value="0.010000" />
  1015.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1016.         <origin xyz="0.0 0.0 0" />
  1017.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1018.       </inertial>
  1019.       <visual>
  1020.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1021.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1022.         <geometry>
  1023.           <mesh filename="package://nxt_description/meshes/parts/6629.dae" scale=" 0.0004  0.0004  0.0004"/>
  1024.         </geometry>
  1025.       </visual>
  1026.       <collision>
  1027.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1028.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1029.         <geometry>
  1030.           <mesh filename="package://nxt_description/meshes/parts/6629.dae" scale=" 0.0004  0.0004  0.0004"/>
  1031.         </geometry>
  1032.       </collision>
  1033.     </link>
  1034.  
  1035.  
  1036.     <link name="ref_40_link">
  1037.       <inertial>
  1038.         <mass value="0.010000" />
  1039.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1040.         <origin xyz="0.0 0.0 0" />
  1041.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1042.       </inertial>
  1043.       <visual>
  1044.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1045.         <origin xyz="0 0 0" rpy="0 0 0" />
  1046.         <geometry>
  1047.           <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004  0.0004  0.0004"/>
  1048.         </geometry>
  1049.       </visual>
  1050.       <collision>
  1051.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1052.         <origin xyz="0 0 0" rpy="0 0 0" />
  1053.         <geometry>
  1054.           <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004  0.0004  0.0004"/>
  1055.         </geometry>
  1056.       </collision>
  1057.     </link>
  1058.  
  1059.  
  1060.     <link name="ref_41_link">
  1061.       <inertial>
  1062.         <mass value="0.010000" />
  1063.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1064.         <origin xyz="0.0 0.0 0" />
  1065.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1066.       </inertial>
  1067.       <visual>
  1068.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1069.         <origin xyz="0 0 0" rpy="0 0 0" />
  1070.         <geometry>
  1071.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1072.         </geometry>
  1073.       </visual>
  1074.       <collision>
  1075.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1076.         <origin xyz="0 0 0" rpy="0 0 0" />
  1077.         <geometry>
  1078.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1079.         </geometry>
  1080.       </collision>
  1081.     </link>
  1082.  
  1083.  
  1084.     <link name="ref_42_link">
  1085.       <inertial>
  1086.         <mass value="0.010000" />
  1087.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1088.         <origin xyz="0.0 0.0 0" />
  1089.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1090.       </inertial>
  1091.       <visual>
  1092.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1093.         <origin xyz="0 0 0" rpy="0 0 0" />
  1094.         <geometry>
  1095.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1096.         </geometry>
  1097.       </visual>
  1098.       <collision>
  1099.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1100.         <origin xyz="0 0 0" rpy="0 0 0" />
  1101.         <geometry>
  1102.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1103.         </geometry>
  1104.       </collision>
  1105.     </link>
  1106.  
  1107.  
  1108.     <link name="ref_43_link">
  1109.       <inertial>
  1110.         <mass value="0.010000" />
  1111.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1112.         <origin xyz="0.0 0.0 0" />
  1113.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1114.       </inertial>
  1115.       <visual>
  1116.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1117.         <origin xyz="0 0 0" rpy="0 0 0" />
  1118.         <geometry>
  1119.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1120.         </geometry>
  1121.       </visual>
  1122.       <collision>
  1123.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1124.         <origin xyz="0 0 0" rpy="0 0 0" />
  1125.         <geometry>
  1126.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1127.         </geometry>
  1128.       </collision>
  1129.     </link>
  1130.  
  1131.  
  1132.     <link name="ref_44_link">
  1133.       <inertial>
  1134.         <mass value="0.010000" />
  1135.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1136.         <origin xyz="0.0 0.0 0" />
  1137.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1138.       </inertial>
  1139.       <visual>
  1140.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1141.         <origin xyz="0 0 0" rpy="0 0 0" />
  1142.         <geometry>
  1143.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1144.         </geometry>
  1145.       </visual>
  1146.       <collision>
  1147.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1148.         <origin xyz="0 0 0" rpy="0 0 0" />
  1149.         <geometry>
  1150.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1151.         </geometry>
  1152.       </collision>
  1153.     </link>
  1154.  
  1155.  
  1156.     <link name="ref_45_link">
  1157.       <inertial>
  1158.         <mass value="0.010000" />
  1159.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1160.         <origin xyz="0.0 0.0 0" />
  1161.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1162.       </inertial>
  1163.       <visual>
  1164.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1165.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1166.         <geometry>
  1167.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1168.         </geometry>
  1169.       </visual>
  1170.       <collision>
  1171.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1172.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1173.         <geometry>
  1174.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1175.         </geometry>
  1176.       </collision>
  1177.     </link>
  1178.  
  1179.  
  1180.     <link name="ref_46_link">
  1181.       <inertial>
  1182.         <mass value="0.010000" />
  1183.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1184.         <origin xyz="0.0 0.0 0" />
  1185.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1186.       </inertial>
  1187.       <visual>
  1188.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1189.         <origin xyz="0 0 0" rpy="0 0 0" />
  1190.         <geometry>
  1191.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1192.         </geometry>
  1193.       </visual>
  1194.       <collision>
  1195.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1196.         <origin xyz="0 0 0" rpy="0 0 0" />
  1197.         <geometry>
  1198.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1199.         </geometry>
  1200.       </collision>
  1201.     </link>
  1202.  
  1203.  
  1204.     <link name="ref_47_link">
  1205.       <inertial>
  1206.         <mass value="0.010000" />
  1207.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1208.         <origin xyz="0.0 0.0 0" />
  1209.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1210.       </inertial>
  1211.       <visual>
  1212.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1213.         <origin xyz="0 0 0" rpy="0 0 0" />
  1214.         <geometry>
  1215.           <mesh filename="package://nxt_description/meshes/parts/53788.dae" scale=" 0.0004  0.0004  0.0004"/>
  1216.         </geometry>
  1217.       </visual>
  1218.       <collision>
  1219.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1220.         <origin xyz="0 0 0" rpy="0 0 0" />
  1221.         <geometry>
  1222.           <mesh filename="package://nxt_description/meshes/parts/53788.dae" scale=" 0.0004  0.0004  0.0004"/>
  1223.         </geometry>
  1224.       </collision>
  1225.     </link>
  1226.  
  1227.  
  1228.     <link name="ref_48_link">
  1229.       <inertial>
  1230.         <mass value="0.010000" />
  1231.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1232.         <origin xyz="0.0 0.0 0" />
  1233.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1234.       </inertial>
  1235.       <visual>
  1236.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1237.         <origin xyz="0 0 0" rpy="0 0 0" />
  1238.         <geometry>
  1239.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1240.         </geometry>
  1241.       </visual>
  1242.       <collision>
  1243.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1244.         <origin xyz="0 0 0" rpy="0 0 0" />
  1245.         <geometry>
  1246.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1247.         </geometry>
  1248.       </collision>
  1249.     </link>
  1250.  
  1251.  
  1252.     <link name="ref_49_link">
  1253.       <inertial>
  1254.         <mass value="0.010000" />
  1255.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1256.         <origin xyz="0.0 0.0 0" />
  1257.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1258.       </inertial>
  1259.       <visual>
  1260.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1261.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1262.         <geometry>
  1263.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1264.         </geometry>
  1265.       </visual>
  1266.       <collision>
  1267.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1268.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1269.         <geometry>
  1270.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1271.         </geometry>
  1272.       </collision>
  1273.     </link>
  1274.  
  1275.  
  1276.     <link name="ref_50_link">
  1277.       <inertial>
  1278.         <mass value="0.010000" />
  1279.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1280.         <origin xyz="0.0 0.0 0" />
  1281.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1282.       </inertial>
  1283.       <visual>
  1284.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1285.         <origin xyz="0 0 0" rpy="0 0 0" />
  1286.         <geometry>
  1287.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1288.         </geometry>
  1289.       </visual>
  1290.       <collision>
  1291.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1292.         <origin xyz="0 0 0" rpy="0 0 0" />
  1293.         <geometry>
  1294.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1295.         </geometry>
  1296.       </collision>
  1297.     </link>
  1298.  
  1299.  
  1300.     <link name="ref_51_link">
  1301.       <inertial>
  1302.         <mass value="0.010000" />
  1303.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1304.         <origin xyz="0.0 0.0 0" />
  1305.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1306.       </inertial>
  1307.       <visual>
  1308.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1309.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1310.         <geometry>
  1311.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1312.         </geometry>
  1313.       </visual>
  1314.       <collision>
  1315.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1316.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1317.         <geometry>
  1318.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1319.         </geometry>
  1320.       </collision>
  1321.     </link>
  1322.  
  1323.  
  1324.     <link name="ref_52_link">
  1325.       <inertial>
  1326.         <mass value="0.010000" />
  1327.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1328.         <origin xyz="0.0 0.0 0" />
  1329.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1330.       </inertial>
  1331.       <visual>
  1332.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1333.         <origin xyz="0 0 0" rpy="0 0 0" />
  1334.         <geometry>
  1335.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1336.         </geometry>
  1337.       </visual>
  1338.       <collision>
  1339.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1340.         <origin xyz="0 0 0" rpy="0 0 0" />
  1341.         <geometry>
  1342.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1343.         </geometry>
  1344.       </collision>
  1345.     </link>
  1346.  
  1347.  
  1348.     <link name="ref_53_link">
  1349.       <inertial>
  1350.         <mass value="0.010000" />
  1351.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1352.         <origin xyz="0.0 0.0 0" />
  1353.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1354.       </inertial>
  1355.       <visual>
  1356.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1357.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1358.         <geometry>
  1359.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1360.         </geometry>
  1361.       </visual>
  1362.       <collision>
  1363.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1364.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1365.         <geometry>
  1366.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1367.         </geometry>
  1368.       </collision>
  1369.     </link>
  1370.  
  1371.  
  1372.     <link name="ref_54_link">
  1373.       <inertial>
  1374.         <mass value="0.010000" />
  1375.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1376.         <origin xyz="0.0 0.0 0" />
  1377.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1378.       </inertial>
  1379.       <visual>
  1380.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1381.         <origin xyz="0 0 0" rpy="0 0 0" />
  1382.         <geometry>
  1383.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1384.         </geometry>
  1385.       </visual>
  1386.       <collision>
  1387.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1388.         <origin xyz="0 0 0" rpy="0 0 0" />
  1389.         <geometry>
  1390.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1391.         </geometry>
  1392.       </collision>
  1393.     </link>
  1394.  
  1395.  
  1396.     <link name="ref_55_link">
  1397.       <inertial>
  1398.         <mass value="0.010000" />
  1399.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1400.         <origin xyz="0.0 0.0 0" />
  1401.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1402.       </inertial>
  1403.       <visual>
  1404.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1405.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1406.         <geometry>
  1407.           <mesh filename="package://nxt_description/meshes/parts/6629.dae" scale=" 0.0004  0.0004  0.0004"/>
  1408.         </geometry>
  1409.       </visual>
  1410.       <collision>
  1411.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1412.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1413.         <geometry>
  1414.           <mesh filename="package://nxt_description/meshes/parts/6629.dae" scale=" 0.0004  0.0004  0.0004"/>
  1415.         </geometry>
  1416.       </collision>
  1417.     </link>
  1418.  
  1419.  
  1420.     <link name="ref_56_link">
  1421.       <inertial>
  1422.         <mass value="0.010000" />
  1423.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1424.         <origin xyz="0.0 0.0 0" />
  1425.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1426.       </inertial>
  1427.       <visual>
  1428.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1429.         <origin xyz="0 0 0" rpy="0 0 0" />
  1430.         <geometry>
  1431.           <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004  0.0004  0.0004"/>
  1432.         </geometry>
  1433.       </visual>
  1434.       <collision>
  1435.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1436.         <origin xyz="0 0 0" rpy="0 0 0" />
  1437.         <geometry>
  1438.           <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004  0.0004  0.0004"/>
  1439.         </geometry>
  1440.       </collision>
  1441.     </link>
  1442.  
  1443.  
  1444.     <link name="ref_57_link">
  1445.       <inertial>
  1446.         <mass value="0.010000" />
  1447.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1448.         <origin xyz="0.0 0.0 0" />
  1449.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1450.       </inertial>
  1451.       <visual>
  1452.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1453.         <origin xyz="0 0 0" rpy="0 0 0" />
  1454.         <geometry>
  1455.           <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004  0.0004  0.0004"/>
  1456.         </geometry>
  1457.       </visual>
  1458.       <collision>
  1459.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1460.         <origin xyz="0 0 0" rpy="0 0 0" />
  1461.         <geometry>
  1462.           <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004  0.0004  0.0004"/>
  1463.         </geometry>
  1464.       </collision>
  1465.     </link>
  1466.  
  1467.  
  1468.     <link name="ref_58_link">
  1469.       <inertial>
  1470.         <mass value="0.010000" />
  1471.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1472.         <origin xyz="0.0 0.0 0" />
  1473.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1474.       </inertial>
  1475.       <visual>
  1476.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1477.         <origin xyz="0 0 0" rpy="0 0 0" />
  1478.         <geometry>
  1479.           <mesh filename="package://nxt_description/meshes/parts/53787.dae" scale=" 0.0004  0.0004  0.0004"/>
  1480.         </geometry>
  1481.       </visual>
  1482.       <collision>
  1483.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1484.         <origin xyz="0 0 0" rpy="0 0 0" />
  1485.         <geometry>
  1486.           <mesh filename="package://nxt_description/meshes/parts/53787.dae" scale=" 0.0004  0.0004  0.0004"/>
  1487.         </geometry>
  1488.       </collision>
  1489.     </link>
  1490.  
  1491.     <link name="ref_58_link_hub">
  1492.       <inertial>
  1493.         <mass value="0.010000" />
  1494.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1495.         <origin xyz="0.0 0.0 0" />
  1496.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1497.       </inertial>
  1498.       <visual>
  1499.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1500.         <origin xyz="0 0 0" rpy="0 0 0" />
  1501.         <geometry>
  1502.           <mesh filename="package://nxt_description/meshes/parts/servo_hubs.dae" scale=" 0.0004  0.0004  0.0004"/>
  1503.         </geometry>
  1504.       </visual>
  1505.       <collision>
  1506.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1507.         <origin xyz="0 0 0" rpy="0 0 0" />
  1508.         <geometry>
  1509.           <mesh filename="package://nxt_description/meshes/parts/servo_hubs.dae" scale=" 0.0004  0.0004  0.0004"/>
  1510.         </geometry>
  1511.       </collision>
  1512.     </link>
  1513.  
  1514.     <!--THIS IS THE MOTOR JOINT RENAME AND FIX BY 180 WHEN NEEDED-->
  1515.     <joint name="left_wheel_joint" type="continuous">
  1516.       <parent link="ref_58_link"/>
  1517.       <child link="ref_58_link_hub"/>
  1518.       <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1519.       <axis xyz="-1 0 0" />
  1520.     </joint>
  1521.  
  1522.     <transmission type="pr2_mechanism_model/SimpleTransmission" name="left_wheel_trans">
  1523.       <actuator name="left_wheel_motor" />
  1524.       <joint name="left_wheel_joint" />
  1525.       <mechanicalReduction>1.0</mechanicalReduction>
  1526.     </transmission>
  1527.  
  1528.  
  1529.  
  1530.     <link name="ref_59_link">
  1531.       <inertial>
  1532.         <mass value="0.010000" />
  1533.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1534.         <origin xyz="0.0 0.0 0" />
  1535.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1536.       </inertial>
  1537.       <visual>
  1538.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1539.         <origin xyz="0 0 0" rpy="0 0 0" />
  1540.         <geometry>
  1541.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1542.         </geometry>
  1543.       </visual>
  1544.       <collision>
  1545.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1546.         <origin xyz="0 0 0" rpy="0 0 0" />
  1547.         <geometry>
  1548.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1549.         </geometry>
  1550.       </collision>
  1551.     </link>
  1552.  
  1553.  
  1554.     <link name="ref_60_link">
  1555.       <inertial>
  1556.         <mass value="0.010000" />
  1557.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1558.         <origin xyz="0.0 0.0 0" />
  1559.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1560.       </inertial>
  1561.       <visual>
  1562.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1563.         <origin xyz="0 0 0" rpy="0 0 0" />
  1564.         <geometry>
  1565.           <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale=" 0.0004  0.0004  0.0004"/>
  1566.         </geometry>
  1567.       </visual>
  1568.       <collision>
  1569.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1570.         <origin xyz="0 0 0" rpy="0 0 0" />
  1571.         <geometry>
  1572.           <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale=" 0.0004  0.0004  0.0004"/>
  1573.         </geometry>
  1574.       </collision>
  1575.     </link>
  1576.  
  1577.  
  1578.     <link name="ref_61_link">
  1579.       <inertial>
  1580.         <mass value="0.010000" />
  1581.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1582.         <origin xyz="0.0 0.0 0" />
  1583.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1584.       </inertial>
  1585.       <visual>
  1586.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1587.         <origin xyz="0 0 0" rpy="0 0 0" />
  1588.         <geometry>
  1589.           <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale=" 0.0004  0.0004  0.0004"/>
  1590.         </geometry>
  1591.       </visual>
  1592.       <collision>
  1593.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1594.         <origin xyz="0 0 0" rpy="0 0 0" />
  1595.         <geometry>
  1596.           <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale=" 0.0004  0.0004  0.0004"/>
  1597.         </geometry>
  1598.       </collision>
  1599.     </link>
  1600.  
  1601.  
  1602.     <link name="ref_62_link">
  1603.       <inertial>
  1604.         <mass value="0.010000" />
  1605.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1606.         <origin xyz="0.0 0.0 0" />
  1607.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1608.       </inertial>
  1609.       <visual>
  1610.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1611.         <origin xyz="0 0 0" rpy="0 0 0" />
  1612.         <geometry>
  1613.           <mesh filename="package://nxt_description/meshes/parts/56145.dae" scale=" 0.0004  0.0004  0.0004"/>
  1614.         </geometry>
  1615.       </visual>
  1616.       <collision>
  1617.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1618.         <origin xyz="0 0 0" rpy="0 0 0" />
  1619.         <geometry>
  1620.           <mesh filename="package://nxt_description/meshes/parts/56145.dae" scale=" 0.0004  0.0004  0.0004"/>
  1621.         </geometry>
  1622.       </collision>
  1623.     </link>
  1624.  
  1625.  
  1626.     <link name="ref_63_link">
  1627.       <inertial>
  1628.         <mass value="0.010000" />
  1629.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1630.         <origin xyz="0.0 0.0 0" />
  1631.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1632.       </inertial>
  1633.       <visual>
  1634.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1635.         <origin xyz="0 0 0" rpy="0 0 0" />
  1636.         <geometry>
  1637.           <mesh filename="package://nxt_description/meshes/parts/44309.dae" scale=" 0.0004  0.0004  0.0004"/>
  1638.         </geometry>
  1639.       </visual>
  1640.       <collision>
  1641.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1642.         <origin xyz="0 0 0" rpy="0 0 0" />
  1643.         <geometry>
  1644.           <mesh filename="package://nxt_description/meshes/parts/44309.dae" scale="0.0004 0.0004 0.0004"/>
  1645.         </geometry>
  1646.       </collision>
  1647.     </link>
  1648.  
  1649.  
  1650.     <link name="ref_64_link">
  1651.       <inertial>
  1652.         <mass value="0.010000" />
  1653.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1654.         <origin xyz="0.0 0.0 0" />
  1655.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1656.       </inertial>
  1657.       <visual>
  1658.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1659.         <origin xyz="0 0 0" rpy="0 0 0" />
  1660.         <geometry>
  1661.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1662.         </geometry>
  1663.       </visual>
  1664.       <collision>
  1665.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1666.         <origin xyz="0 0 0" rpy="0 0 0" />
  1667.         <geometry>
  1668.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1669.         </geometry>
  1670.       </collision>
  1671.     </link>
  1672.  
  1673.  
  1674.     <link name="ref_65_link">
  1675.       <inertial>
  1676.         <mass value="0.010000" />
  1677.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1678.         <origin xyz="0.0 0.0 0" />
  1679.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1680.       </inertial>
  1681.       <visual>
  1682.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1683.         <origin xyz="0 0 0" rpy="0 0 0" />
  1684.         <geometry>
  1685.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1686.         </geometry>
  1687.       </visual>
  1688.       <collision>
  1689.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1690.         <origin xyz="0 0 0" rpy="0 0 0" />
  1691.         <geometry>
  1692.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1693.         </geometry>
  1694.       </collision>
  1695.     </link>
  1696.  
  1697.  
  1698.     <link name="ref_66_link">
  1699.       <inertial>
  1700.         <mass value="0.010000" />
  1701.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1702.         <origin xyz="0.0 0.0 0" />
  1703.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1704.       </inertial>
  1705.       <visual>
  1706.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1707.         <origin xyz="0 0 0" rpy="0 0 0" />
  1708.         <geometry>
  1709.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1710.         </geometry>
  1711.       </visual>
  1712.       <collision>
  1713.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1714.         <origin xyz="0 0 0" rpy="0 0 0" />
  1715.         <geometry>
  1716.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1717.         </geometry>
  1718.       </collision>
  1719.     </link>
  1720.  
  1721.  
  1722.     <link name="ref_67_link">
  1723.       <inertial>
  1724.         <mass value="0.010000" />
  1725.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1726.         <origin xyz="0.0 0.0 0" />
  1727.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1728.       </inertial>
  1729.       <visual>
  1730.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1731.         <origin xyz="0 0 0" rpy="0 0 0" />
  1732.         <geometry>
  1733.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1734.         </geometry>
  1735.       </visual>
  1736.       <collision>
  1737.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1738.         <origin xyz="0 0 0" rpy="0 0 0" />
  1739.         <geometry>
  1740.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1741.         </geometry>
  1742.       </collision>
  1743.     </link>
  1744.  
  1745.  
  1746.     <link name="ref_68_link">
  1747.       <inertial>
  1748.         <mass value="0.010000" />
  1749.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1750.         <origin xyz="0.0 0.0 0" />
  1751.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1752.       </inertial>
  1753.       <visual>
  1754.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1755.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1756.         <geometry>
  1757.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1758.         </geometry>
  1759.       </visual>
  1760.       <collision>
  1761.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1762.         <origin xyz="0 0 0" rpy="0 0 0" />
  1763.         <geometry>
  1764.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1765.         </geometry>
  1766.       </collision>
  1767.     </link>
  1768.  
  1769.  
  1770.     <link name="ref_69_link">
  1771.       <inertial>
  1772.         <mass value="0.010000" />
  1773.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1774.         <origin xyz="0.0 0.0 0" />
  1775.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1776.       </inertial>
  1777.       <visual>
  1778.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1779.         <origin xyz="0 0 0" rpy="0 0 0" />
  1780.         <geometry>
  1781.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1782.         </geometry>
  1783.       </visual>
  1784.       <collision>
  1785.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1786.         <origin xyz="0 0 0" rpy="0 0 0" />
  1787.         <geometry>
  1788.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1789.         </geometry>
  1790.       </collision>
  1791.     </link>
  1792.  
  1793.  
  1794.     <link name="ref_70_link">
  1795.       <inertial>
  1796.         <mass value="0.010000" />
  1797.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1798.         <origin xyz="0.0 0.0 0" />
  1799.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1800.       </inertial>
  1801.       <visual>
  1802.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1803.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1804.         <geometry>
  1805.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1806.         </geometry>
  1807.       </visual>
  1808.       <collision>
  1809.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1810.         <origin xyz="0 0 0" rpy="0 0 0" />
  1811.         <geometry>
  1812.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1813.         </geometry>
  1814.       </collision>
  1815.     </link>
  1816.  
  1817.  
  1818.     <link name="ref_71_link">
  1819.       <inertial>
  1820.         <mass value="0.010000" />
  1821.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1822.         <origin xyz="0.0 0.0 0" />
  1823.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1824.       </inertial>
  1825.       <visual>
  1826.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1827.         <origin xyz="0 0 0" rpy="0 0 0" />
  1828.         <geometry>
  1829.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1830.         </geometry>
  1831.       </visual>
  1832.       <collision>
  1833.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1834.         <origin xyz="0 0 0" rpy="0 0 0" />
  1835.         <geometry>
  1836.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1837.         </geometry>
  1838.       </collision>
  1839.     </link>
  1840.  
  1841.  
  1842.     <link name="ref_72_link">
  1843.       <inertial>
  1844.         <mass value="0.010000" />
  1845.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1846.         <origin xyz="0.0 0.0 0" />
  1847.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1848.       </inertial>
  1849.       <visual>
  1850.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1851.         <origin xyz="0 0 0" rpy="0 0 0" />
  1852.         <geometry>
  1853.           <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale=" 0.0004  0.0004  0.0004"/>
  1854.         </geometry>
  1855.       </visual>
  1856.       <collision>
  1857.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1858.         <origin xyz="0 0 0" rpy="0 0 0" />
  1859.         <geometry>
  1860.           <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale=" 0.0004  0.0004  0.0004"/>
  1861.         </geometry>
  1862.       </collision>
  1863.     </link>
  1864.  
  1865.  
  1866.     <link name="ref_73_link">
  1867.       <inertial>
  1868.         <mass value="0.010000" />
  1869.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1870.         <origin xyz="0.0 0.0 0" />
  1871.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1872.       </inertial>
  1873.       <visual>
  1874.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1875.         <origin xyz="0 0 0" rpy="0 0 0" />
  1876.         <geometry>
  1877.           <mesh filename="package://nxt_description/meshes/parts/56145.dae" scale=" 0.0004  0.0004  0.0004"/>
  1878.         </geometry>
  1879.       </visual>
  1880.       <collision>
  1881.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1882.         <origin xyz="0 0 0" rpy="0 0 0" />
  1883.         <geometry>
  1884.           <mesh filename="package://nxt_description/meshes/parts/56145.dae" scale=" 0.0004  0.0004  0.0004"/>
  1885.         </geometry>
  1886.       </collision>
  1887.     </link>
  1888.  
  1889.  
  1890.     <link name="ref_74_link">
  1891.       <inertial>
  1892.         <mass value="0.010000" />
  1893.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1894.         <origin xyz="0.0 0.0 0" />
  1895.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1896.       </inertial>
  1897.       <visual>
  1898.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1899.         <origin xyz="0 0 0" rpy="0 0 0" />
  1900.         <geometry>
  1901.           <mesh filename="package://nxt_description/meshes/parts/44309.dae" scale=" 0.0004  0.0004  0.0004"/>
  1902.         </geometry>
  1903.       </visual>
  1904.       <collision>
  1905.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1906.         <origin xyz="0 0 0" rpy="0 0 0" />
  1907.         <geometry>
  1908.           <mesh filename="package://nxt_description/meshes/parts/44309.dae" scale=" 0.0004  0.0004  0.0004"/>
  1909.         </geometry>
  1910.       </collision>
  1911.     </link>
  1912.  
  1913.  
  1914.     <link name="ref_75_link">
  1915.       <inertial>
  1916.         <mass value="0.010000" />
  1917.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1918.         <origin xyz="0.0 0.0 0" />
  1919.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1920.       </inertial>
  1921.       <visual>
  1922.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1923.         <origin xyz="0 0 0" rpy="0 0 0" />
  1924.         <geometry>
  1925.           <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale=" 0.0004  0.0004  0.0004"/>
  1926.         </geometry>
  1927.       </visual>
  1928.       <collision>
  1929.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1930.         <origin xyz="0 0 0" rpy="0 0 0" />
  1931.         <geometry>
  1932.           <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale=" 0.0004  0.0004  0.0004"/>
  1933.         </geometry>
  1934.       </collision>
  1935.     </link>
  1936.  
  1937.  
  1938.     <link name="ref_76_link">
  1939.       <inertial>
  1940.         <mass value="0.010000" />
  1941.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1942.         <origin xyz="0.0 0.0 0" />
  1943.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1944.       </inertial>
  1945.       <visual>
  1946.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1947.         <origin xyz="0 0 0" rpy="0 0 0" />
  1948.         <geometry>
  1949.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1950.         </geometry>
  1951.       </visual>
  1952.       <collision>
  1953.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1954.         <origin xyz="0 0 0" rpy="0 0 0" />
  1955.         <geometry>
  1956.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1957.         </geometry>
  1958.       </collision>
  1959.     </link>
  1960.  
  1961.  
  1962.     <link name="ref_77_link">
  1963.       <inertial>
  1964.         <mass value="0.010000" />
  1965.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1966.         <origin xyz="0.0 0.0 0" />
  1967.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1968.       </inertial>
  1969.       <visual>
  1970.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1971.         <origin xyz="0 0 0" rpy="0 0 0" />
  1972.         <geometry>
  1973.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1974.         </geometry>
  1975.       </visual>
  1976.       <collision>
  1977.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1978.         <origin xyz="0 0 0" rpy="0 0 0" />
  1979.         <geometry>
  1980.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1981.         </geometry>
  1982.       </collision>
  1983.     </link>
  1984.  
  1985.  
  1986.     <link name="ref_78_link">
  1987.       <inertial>
  1988.         <mass value="0.010000" />
  1989.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1990.         <origin xyz="0.0 0.0 0" />
  1991.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1992.       </inertial>
  1993.       <visual>
  1994.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1995.         <origin xyz="0 0 0" rpy="0 0 0" />
  1996.         <geometry>
  1997.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1998.         </geometry>
  1999.       </visual>
  2000.       <collision>
  2001.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2002.         <origin xyz="0 0 0" rpy="0 0 0" />
  2003.         <geometry>
  2004.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  2005.         </geometry>
  2006.       </collision>
  2007.     </link>
  2008.  
  2009.  
  2010.     <link name="ref_79_link">
  2011.       <inertial>
  2012.         <mass value="0.010000" />
  2013.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2014.         <origin xyz="0.0 0.0 0" />
  2015.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2016.       </inertial>
  2017.       <visual>
  2018.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2019.         <origin xyz="0 0 0" rpy="0 0 0" />
  2020.         <geometry>
  2021.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  2022.         </geometry>
  2023.       </visual>
  2024.       <collision>
  2025.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2026.         <origin xyz="0 0 0" rpy="0 0 0" />
  2027.         <geometry>
  2028.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  2029.         </geometry>
  2030.       </collision>
  2031.     </link>
  2032.  
  2033.  
  2034.     <link name="ref_80_link">
  2035.       <inertial>
  2036.         <mass value="0.010000" />
  2037.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2038.         <origin xyz="0.0 0.0 0" />
  2039.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2040.       </inertial>
  2041.       <visual>
  2042.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2043.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  2044.         <geometry>
  2045.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  2046.         </geometry>
  2047.       </visual>
  2048.       <collision>
  2049.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2050.         <origin xyz="0 0 0" rpy="0 0 0" />
  2051.         <geometry>
  2052.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  2053.         </geometry>
  2054.       </collision>
  2055.     </link>
  2056.  
  2057.  
  2058.     <link name="ref_81_link">
  2059.       <inertial>
  2060.         <mass value="0.010000" />
  2061.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2062.         <origin xyz="0.0 0.0 0" />
  2063.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2064.       </inertial>
  2065.       <visual>
  2066.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2067.         <origin xyz="0 0 0" rpy="0 0 0" />
  2068.         <geometry>
  2069.           <mesh filename="package://nxt_description/meshes/parts/4519.dae" scale=" 0.0004  0.0004  0.0004"/>
  2070.         </geometry>
  2071.       </visual>
  2072.       <collision>
  2073.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2074.         <origin xyz="0 0 0" rpy="0 0 0" />
  2075.         <geometry>
  2076.           <mesh filename="package://nxt_description/meshes/parts/4519.dae" scale=" 0.0004  0.0004  0.0004"/>
  2077.         </geometry>
  2078.       </collision>
  2079.     </link>
  2080.  
  2081.  
  2082.     <link name="ref_82_link">
  2083.       <inertial>
  2084.         <mass value="0.010000" />
  2085.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2086.         <origin xyz="0.0 0.0 0" />
  2087.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2088.       </inertial>
  2089.       <visual>
  2090.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2091.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  2092.         <geometry>
  2093.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  2094.         </geometry>
  2095.       </visual>
  2096.       <collision>
  2097.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2098.         <origin xyz="0 0 0" rpy="0 0 0" />
  2099.         <geometry>
  2100.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  2101.         </geometry>
  2102.       </collision>
  2103.     </link>
  2104.  
  2105.  
  2106.     <link name="ref_83_link">
  2107.       <inertial>
  2108.         <mass value="0.010000" />
  2109.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2110.         <origin xyz="0.0 0.0 0" />
  2111.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2112.       </inertial>
  2113.       <visual>
  2114.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2115.         <origin xyz="0 0 0" rpy="0 0 0" />
  2116.         <geometry>
  2117.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  2118.         </geometry>
  2119.       </visual>
  2120.       <collision>
  2121.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2122.         <origin xyz="0 0 0" rpy="0 0 0" />
  2123.         <geometry>
  2124.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  2125.         </geometry>
  2126.       </collision>
  2127.     </link>
  2128.  
  2129.  
  2130.     <link name="ref_84_link">
  2131.       <inertial>
  2132.         <mass value="0.010000" />
  2133.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2134.         <origin xyz="0.0 0.0 0" />
  2135.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2136.       </inertial>
  2137.       <visual>
  2138.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2139.         <origin xyz="0 0 0" rpy="0 0 0" />
  2140.         <geometry>
  2141.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  2142.         </geometry>
  2143.       </visual>
  2144.       <collision>
  2145.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2146.         <origin xyz="0 0 0" rpy="0 0 0" />
  2147.         <geometry>
  2148.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  2149.         </geometry>
  2150.       </collision>
  2151.     </link>
  2152.  
  2153.  
  2154.     <link name="ref_85_link">
  2155.       <inertial>
  2156.         <mass value="0.010000" />
  2157.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2158.         <origin xyz="0.0 0.0 0" />
  2159.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2160.       </inertial>
  2161.       <visual>
  2162.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2163.         <origin xyz="0 0 0" rpy="0 0 0" />
  2164.         <geometry>
  2165.           <mesh filename="package://nxt_description/meshes/parts/40490.dae" scale=" 0.0004  0.0004  0.0004"/>
  2166.         </geometry>
  2167.       </visual>
  2168.       <collision>
  2169.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2170.         <origin xyz="0 0 0" rpy="0 0 0" />
  2171.         <geometry>
  2172.           <mesh filename="package://nxt_description/meshes/parts/40490.dae" scale=" 0.0004  0.0004  0.0004"/>
  2173.         </geometry>
  2174.       </collision>
  2175.     </link>
  2176.  
  2177.  
  2178.     <link name="ref_86_link">
  2179.       <inertial>
  2180.         <mass value="0.010000" />
  2181.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2182.         <origin xyz="0.0 0.0 0" />
  2183.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2184.       </inertial>
  2185.       <visual>
  2186.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2187.         <origin xyz="0 0 0" rpy="0 0 0" />
  2188.         <geometry>
  2189.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  2190.         </geometry>
  2191.       </visual>
  2192.       <collision>
  2193.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2194.         <origin xyz="0 0 0" rpy="0 0 0" />
  2195.         <geometry>
  2196.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  2197.         </geometry>
  2198.       </collision>
  2199.     </link>
  2200.  
  2201.  
  2202.     <link name="ref_87_link">
  2203.       <inertial>
  2204.         <mass value="0.010000" />
  2205.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2206.         <origin xyz="0.0 0.0 0" />
  2207.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2208.       </inertial>
  2209.       <visual>
  2210.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2211.         <origin xyz="0 0 0" rpy="0 0 0" />
  2212.         <geometry>
  2213.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  2214.         </geometry>
  2215.       </visual>
  2216.       <collision>
  2217.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2218.         <origin xyz="0 0 0" rpy="0 0 0" />
  2219.         <geometry>
  2220.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  2221.         </geometry>
  2222.       </collision>
  2223.     </link>
  2224.  
  2225.  
  2226.     <link name="ref_88_link">
  2227.       <inertial>
  2228.         <mass value="0.010000" />
  2229.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2230.         <origin xyz="0.0 0.0 0" />
  2231.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2232.       </inertial>
  2233.       <visual>
  2234.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2235.         <origin xyz="0 0 0" rpy="0 0 0" />
  2236.         <geometry>
  2237.           <mesh filename="package://nxt_description/meshes/parts/40490.dae" scale=" 0.0004  0.0004  0.0004"/>
  2238.         </geometry>
  2239.       </visual>
  2240.       <collision>
  2241.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2242.         <origin xyz="0 0 0" rpy="0 0 0" />
  2243.         <geometry>
  2244.           <mesh filename="package://nxt_description/meshes/parts/40490.dae" scale=" 0.0004  0.0004  0.0004"/>
  2245.         </geometry>
  2246.       </collision>
  2247.     </link>
  2248.  
  2249.  
  2250.     <joint name="ref_0_joint" type="fixed">
  2251.       <parent link="ref_0_link"/>
  2252.       <child link="ref_1_link"/>
  2253.       <origin xyz="1.63269042969e-07 -0.00819995422363 -0.0238001464844" rpy="1.57079632679 -0.0 -1.57079632679" />
  2254.       <axis xyz="0 0 0" />
  2255.     </joint>
  2256.  
  2257.  
  2258.     <joint name="ref_1_joint" type="fixed">
  2259.       <parent link="ref_1_link"/>
  2260.       <child link="ref_2_link"/>
  2261.       <origin xyz="-0.000199963355069 0.0238001741648 1.72424295852e-07" rpy="-1.57079632679 1.57079632679 -0.0" />
  2262.       <axis xyz="0 0 0" />
  2263.     </joint>
  2264.  
  2265.  
  2266.     <joint name="ref_2_joint" type="fixed">
  2267.       <parent link="ref_2_link"/>
  2268.       <child link="ref_3_link"/>
  2269.       <origin xyz="1.35803222656e-07 0.0762002075195 -0.0118024108887" rpy="2.56617217953 1.57077648957 0.994078913433" />
  2270.       <axis xyz="0 0 0" />
  2271.     </joint>
  2272.  
  2273.  
  2274.     <joint name="ref_3_joint" type="fixed">
  2275.       <parent link="ref_2_link"/>
  2276.       <child link="ref_4_link"/>
  2277.       <origin xyz="2.82287597656e-07 0.0762003540039 -0.0238024047852" rpy="1.57079632679 -1.13256307865e-05 -0.0" />
  2278.       <axis xyz="0 0 0" />
  2279.     </joint>
  2280.  
  2281.  
  2282.     <joint name="ref_4_joint" type="fixed">
  2283.       <parent link="ref_2_link"/>
  2284.       <child link="ref_5_link"/>
  2285.       <origin xyz="1.06811523438e-07 0.0758001831055 -0.00780240478516" rpy="1.57078624575 1.1010007255e-05 -3.14158176733" />
  2286.       <axis xyz="0 0 0" />
  2287.     </joint>
  2288.  
  2289.  
  2290.     <joint name="ref_5_joint" type="fixed">
  2291.       <parent link="ref_2_link"/>
  2292.       <child link="ref_6_link"/>
  2293.       <origin xyz="2.13623046875e-08 0.0759999633789 0.000197589111328" rpy="-1.57080748776 -0.0 -3.14159265359" />
  2294.       <axis xyz="0 0 0" />
  2295.     </joint>
  2296.  
  2297.  
  2298.     <joint name="ref_6_joint" type="fixed">
  2299.       <parent link="ref_2_link"/>
  2300.       <child link="ref_7_link"/>
  2301.       <origin xyz="0.00800002441406 0.039999987793 -1.05590820312e-06" rpy="1.57079632679 1.57075457489 -1.57079632679" />
  2302.       <axis xyz="0 0 0" />
  2303.     </joint>
  2304.  
  2305.  
  2306.     <joint name="ref_7_joint" type="fixed">
  2307.       <parent link="ref_2_link"/>
  2308.       <child link="ref_8_link"/>
  2309.       <origin xyz="-0.00799996032715 0.04 -2.25830078125e-07" rpy="3.14159265359 1.57079632679 -0.0" />
  2310.       <axis xyz="0 0 0" />
  2311.     </joint>
  2312.  
  2313.  
  2314.     <joint name="ref_8_joint" type="fixed">
  2315.       <parent link="ref_12_link"/>
  2316.       <child link="ref_9_link"/>
  2317.       <origin xyz="7.828350350163135e-05 0.007999992248306359 -0.01599574888085893" rpy="1.5707963267992335 -0.016041211646452877 -2.019495777038321e-07" />
  2318.       <axis xyz="0 0 0" />
  2319.     </joint>
  2320.  
  2321.  
  2322.     <joint name="ref_9_joint" type="fixed">
  2323.       <parent link="ref_12_link"/>
  2324.       <child link="ref_10_link"/>
  2325.       <origin xyz="-0.019773283015216105 0.011200000837567045 0.021970711426472916" rpy="0.9433347502433465 -1.6022588811281935e-10 -1.5707857975195862" />
  2326.       <axis xyz="0 0 0" />
  2327.     </joint>
  2328.  
  2329.  
  2330.     <joint name="ref_10_joint" type="fixed">
  2331.       <parent link="ref_12_link"/>
  2332.       <child link="ref_11_link"/>
  2333.       <origin xyz="-0.02628444588433196 0.016399937195003385 0.02695496452268098" rpy="-1.5707963270591478 -0.9290985650975533 1.0616525449825763e-05" />
  2334.       <axis xyz="0 0 0" />
  2335.     </joint>
  2336.  
  2337.  
  2338.     <joint name="caster_wheel_support_joint" type="continuous">
  2339.       <parent link="ref_3_link"/>
  2340.       <child link="ref_12_link"/>
  2341.       <origin xyz="0.00374998598337 -25.46744743986e-09 0.00820001255175" rpy="3.14159265359 1.74727644705e-06 3.14159245339" />
  2342.       <axis xyz="1 0 0" />
  2343.     </joint>
  2344.    
  2345.     <transmission type="pr2_mechanism_model/SimpleTransmission" name="caster_wheel_support_trans">
  2346.       <actuator name="caster_wheel_support_motor" />
  2347.       <joint name="caster_wheel_support_joint" />
  2348.       <mechanicalReduction>1.0</mechanicalReduction>
  2349.     </transmission>
  2350.  
  2351.  
  2352.     <joint name="ref_12_joint" type="fixed">
  2353.       <parent link="ref_12_link"/>
  2354.       <child link="ref_13_link"/>
  2355.       <origin xyz="7.829938401379206e-05 -0.00800001347353713 -0.015995748880583402" rpy="1.5707963267992342 -0.016041213508852844 -2.0193957728630123e-07" />
  2356.       <axis xyz="0 0 0" />
  2357.     </joint>
  2358.  
  2359.  
  2360.     <joint name="ref_13_joint" type="fixed">
  2361.       <parent link="ref_12_link"/>
  2362.       <child link="ref_14_link"/>
  2363.       <origin xyz="-0.01977346292677751 -0.011999997161597383 0.02197046728329209" rpy="-0.941811082803346 -1.728376066570402e-05 1.570806856319801" />
  2364.       <axis xyz="0 0 0" />
  2365.     </joint>
  2366.  
  2367.  
  2368.     <joint name="ref_14_joint" type="fixed">
  2369.       <parent link="ref_12_link"/>
  2370.       <child link="ref_15_link"/>
  2371.       <origin xyz="-0.026286521322119564 -0.017200052622681747 0.0269564659566143" rpy="-1.5707963270686134 -0.9418140056795524 1.0616524787663322e-05" />
  2372.       <axis xyz="0 0 0" />
  2373.     </joint>
  2374.  
  2375.  
  2376.     <joint name="ref_15_joint" type="fixed">
  2377.       <parent link="ref_12_link"/>
  2378.       <child link="ref_16_link"/>
  2379.       <origin xyz="-0.026243944356444993 -0.007999989275855626 0.026675070139318233" rpy="2.6220488780330158e-05 -0.9290942257425536 -1.735704872123971e-05" />
  2380.       <axis xyz="0 0 0" />
  2381.     </joint>
  2382.  
  2383.  
  2384.     <joint name="ref_16_joint" type="fixed">
  2385.       <parent link="ref_12_link"/>
  2386.       <child link="ref_17_link"/>
  2387.       <origin xyz="-0.026243932522783314 0.001600015683362162 0.026675094553595582" rpy="0.9290945321833465 -1.6022594362397058e-10 -1.5707857975195865" />
  2388.       <axis xyz="0 0 0" />
  2389.     </joint>
  2390.  
  2391.  
  2392.     <joint name="ref_17_joint" type="fixed">
  2393.       <parent link="ref_12_link"/>
  2394.       <child link="ref_18_link"/>
  2395.       <origin xyz="-0.0262439228843456 0.008800011773380374 0.026675094553677253" rpy="2.615907860083846e-05 -0.9290937131215536 -1.7418418577385377e-05" />
  2396.       <axis xyz="0 0 0" />
  2397.     </joint>
  2398.  
  2399.  
  2400.     <joint name="caster_wheel_joint" type="continuous">
  2401.       <parent link="ref_17_link"/>
  2402.       <child link="caster_wheel_link"/>
  2403.       <origin xyz="0.0016000165885911716 0.00010165476252702033 6.535601406038039e-07" rpy="-2.449351583277901e-06 5.070225466826798e-06 -1.5708138408730377" />
  2404.       <axis xyz="0 -1 0" />
  2405.     </joint>
  2406.    
  2407.     <transmission type="pr2_mechanism_model/SimpleTransmission" name="caster_wheel_trans">
  2408.       <actuator name="caster_wheel_motor" />
  2409.       <joint name="caster_wheel_joint" />
  2410.       <mechanicalReduction>1.0</mechanicalReduction>
  2411.     </transmission>
  2412.  
  2413.  
  2414.     <joint name="ref_19_joint" type="fixed">
  2415.       <parent link="ref_3_link"/>
  2416.       <child link="ref_20_link"/>
  2417.       <origin xyz="-0.0118030471135 1.78073329351e-08 0.052199998924" rpy="-1.57081295549 -1.78417115258e-10 1.57078559732" />
  2418.       <axis xyz="0 0 0" />
  2419.     </joint>
  2420.  
  2421.  
  2422.     <joint name="ref_20_joint" type="fixed">
  2423.       <parent link="ref_3_link"/>
  2424.       <child link="ref_21_link"/>
  2425.       <origin xyz="-0.0118030532172 2.23850351318e-08 0.0522000111309" rpy="-3.14158192412 1.57077978538 -1.0816749256e-05" />
  2426.       <axis xyz="0 0 0" />
  2427.     </joint>
  2428.  
  2429.  
  2430.     <joint name="ref_21_joint" type="fixed">
  2431.       <parent link="ref_3_link"/>
  2432.       <child link="ref_22_link"/>
  2433.       <origin xyz="-0.00400337113741 -0.0160000524454 0.0521295048515" rpy="-1.57081295549 -1.78417115258e-10 1.57078559732" />
  2434.       <axis xyz="0 0 0" />
  2435.     </joint>
  2436.  
  2437.  
  2438.     <joint name="ref_22_joint" type="fixed">
  2439.       <parent link="ref_3_link"/>
  2440.       <child link="ref_23_link"/>
  2441.       <origin xyz="-0.00400303389778 0.0159999559433 0.0521295048572" rpy="-1.57081295549 -1.78417115258e-10 1.57078559732" />
  2442.       <axis xyz="0 0 0" />
  2443.     </joint>
  2444.  
  2445.  
  2446.     <joint name="ref_23_joint" type="fixed">
  2447.       <parent link="ref_20_link"/>
  2448.       <child link="ref_24_link"/>
  2449.       <origin xyz="0.0160000305176 0.00807067871094 -0.00799987182617" rpy="-0.0 -0.0 -1.57079632679" />
  2450.       <axis xyz="0 0 0" />
  2451.     </joint>
  2452.  
  2453.  
  2454.     <joint name="ref_24_joint" type="fixed">
  2455.       <parent link="ref_24_link"/>
  2456.       <child link="ref_25_link"/>
  2457.       <origin xyz="5.4931640625e-08 -0.000200152587891 0.00820003100634" rpy="-1.57079632679 -0.0 -1.57079632679" />
  2458.       <axis xyz="0 0 0" />
  2459.     </joint>
  2460.  
  2461.  
  2462.     <joint name="ref_25_joint" type="fixed">
  2463.       <parent link="ref_25_link"/>
  2464.       <child link="ref_26_link"/>
  2465.       <origin xyz="-0.0162005126953 0.0321997733832 0.00799990139009" rpy="1.57080961926 -1.57079632679 -0.0" />
  2466.       <axis xyz="0 0 0" />
  2467.     </joint>
  2468.  
  2469.  
  2470.     <joint name="ref_26_joint" type="fixed">
  2471.       <parent link="ref_26_link"/>
  2472.       <child link="ref_27_link"/>
  2473.       <origin xyz="-3.662109375e-08 -0.0320000457698 4.92498194592e-07" rpy="-1.57079632679 1.57078303433 -1.57079632679" />
  2474.       <axis xyz="0 0 0" />
  2475.     </joint>
  2476.  
  2477.  
  2478.     <joint name="ref_27_joint" type="fixed">
  2479.       <parent link="ref_27_link"/>
  2480.       <child link="ref_28_link"/>
  2481.       <origin xyz="3.81469681088e-07 -0.0320000221252 -0.0039997675896" rpy="3.1415822842 1.57079632679 -0.0" />
  2482.       <axis xyz="0 0 0" />
  2483.     </joint>
  2484.  
  2485.  
  2486.     <joint name="ref_28_joint" type="fixed">
  2487.       <parent link="ref_28_link"/>
  2488.       <child link="ref_29_link"/>
  2489.       <origin xyz="0.00399999389648 -0.0162000273831 0.0321999601894" rpy="-1.57079632679 2.88219179572e-07 -1.57079632679" />
  2490.       <axis xyz="0 0 0" />
  2491.     </joint>
  2492.  
  2493.  
  2494.     <joint name="ref_29_joint" type="fixed">
  2495.       <parent link="ref_29_link"/>
  2496.       <child link="ref_30_link"/>
  2497.       <origin xyz="-0.000200082868306 0.00820000408645 4.2724609375e-08" rpy="1.57078624562 1.57079632679 -0.0" />
  2498.       <axis xyz="0 0 0" />
  2499.     </joint>
  2500.  
  2501.  
  2502.     <joint name="ref_30_joint" type="fixed">
  2503.       <parent link="ref_30_link"/>
  2504.       <child link="ref_31_link"/>
  2505.       <origin xyz="-0.00800045776367 0.0 0.0084499394685" rpy="-0.0 -0.0 1.57079632679" />
  2506.       <axis xyz="0 0 0" />
  2507.     </joint>
  2508.  
  2509.  
  2510.     <joint name="ref_31_joint" type="fixed">
  2511.       <parent link="ref_30_link"/>
  2512.       <child link="ref_32_link"/>
  2513.       <origin xyz="-0.00792937011719 0.015999987793 0.00799981126784" rpy="-0.0 -0.0 1.57079632679" />
  2514.       <axis xyz="0 0 0" />
  2515.     </joint>
  2516.  
  2517.  
  2518.     <joint name="ref_32_joint" type="fixed">
  2519.       <parent link="ref_30_link"/>
  2520.       <child link="ref_33_link"/>
  2521.       <origin xyz="-0.0079294128418 0.0159999908447 0.00799978685378" rpy="-0.0 -0.0 -3.14159265359" />
  2522.       <axis xyz="0 0 0" />
  2523.     </joint>
  2524.  
  2525.  
  2526.     <joint name="ref_33_joint" type="fixed">
  2527.       <parent link="ref_30_link"/>
  2528.       <child link="ref_34_link"/>
  2529.       <origin xyz="-0.00800055541992 0.0319999969482 0.00844989064037" rpy="-0.0 -0.0 1.57079632679" />
  2530.       <axis xyz="0 0 0" />
  2531.     </joint>
  2532.  
  2533.  
  2534.     <joint name="ref_34_joint" type="fixed">
  2535.       <parent link="ref_29_link"/>
  2536.       <child link="ref_35_link"/>
  2537.       <origin xyz="-0.000200025464902 0.0162000101905 -0.00399995117188" rpy="1.57079627251 -1.57079632679 -0.0" />
  2538.       <axis xyz="0 0 0" />
  2539.     </joint>
  2540.  
  2541.  
  2542.     <joint name="ref_35_joint" type="fixed">
  2543.       <parent link="ref_29_link"/>
  2544.       <child link="ref_36_link"/>
  2545.       <origin xyz="-0.008199993415 0.0322000455083 -0.00799998779297" rpy="1.57078624562 1.57079632679 -0.0" />
  2546.       <axis xyz="0 0 0" />
  2547.     </joint>
  2548.  
  2549.  
  2550.     <joint name="ref_36_joint" type="fixed">
  2551.       <parent link="ref_36_link"/>
  2552.       <child link="ref_37_link"/>
  2553.       <origin xyz="0.0879999206543 -0.00800107192993 0.000200061047081" rpy="-3.14159265359 1.53965438647e-05 1.57078588092" />
  2554.       <axis xyz="0 0 0" />
  2555.     </joint>
  2556.  
  2557.  
  2558.     <joint name="ref_37_joint" type="fixed">
  2559.       <parent link="ref_36_link"/>
  2560.       <child link="ref_38_link"/>
  2561.       <origin xyz="0.0799999633789 -0.012000756073 0.0159998971939" rpy="-0.0 -0.0 1.57079632679" />
  2562.       <axis xyz="0 0 0" />
  2563.     </joint>
  2564.  
  2565.  
  2566.     <joint name="ref_38_joint" type="fixed">
  2567.       <parent link="ref_36_link"/>
  2568.       <child link="ref_39_link"/>
  2569.       <origin xyz="0.0317944290161 -0.0159997779846 0.0479908903117" rpy="-1.5707765211 0.645743883264 -3.14159265359" />
  2570.       <axis xyz="0 0 0" />
  2571.     </joint>
  2572.  
  2573.  
  2574.     <joint name="ref_39_joint" type="fixed">
  2575.       <parent link="ref_36_link"/>
  2576.       <child link="ref_40_link"/>
  2577.       <origin xyz="0.0320746704102 -0.0199997795105 0.0479514554948" rpy="0.645744701081 -0.0 -1.57079632679" />
  2578.       <axis xyz="0 0 0" />
  2579.     </joint>
  2580.  
  2581.  
  2582.     <joint name="ref_40_joint" type="fixed">
  2583.       <parent link="ref_37_link"/>
  2584.       <child link="ref_86_link"/>
  2585.       <origin xyz="0.0159999791856 -0.064000075581 0.00819996727868" rpy="-3.14159265343 -1.47538228815e-07 3.14158220772" />
  2586.       <axis xyz="0 0 0" />
  2587.     </joint>
  2588.  
  2589.  
  2590.     <joint name="ref_41_joint" type="fixed">
  2591.       <parent link="ref_86_link"/>
  2592.       <child link="ref_80_link"/>
  2593.       <origin xyz="-0.00799979240847 -0.000200119018555 0.0322002379557" rpy="-1.5708115758 -0.0 -1.57079632679" />
  2594.       <axis xyz="0 0 0" />
  2595.     </joint>
  2596.  
  2597.  
  2598.     <joint name="ref_42_joint" type="fixed">
  2599.       <parent link="ref_80_link"/>
  2600.       <child link="ref_79_link"/>
  2601.       <origin xyz="-0.000270645109338 0.000200073218337 -0.00799995098115" rpy="1.57079632679 -1.57079632679 -0.0" />
  2602.       <axis xyz="0 0 0" />
  2603.     </joint>
  2604.  
  2605.  
  2606.     <joint name="ref_43_joint" type="fixed">
  2607.       <parent link="ref_79_link"/>
  2608.       <child link="ref_82_link"/>
  2609.       <origin xyz="-0.00799999389648 -0.000199884033203 0.000200073242188" rpy="-1.57080997953 -0.0 -1.57079632679" />
  2610.       <axis xyz="0 0 0" />
  2611.     </joint>
  2612.  
  2613.  
  2614.     <joint name="ref_44_joint" type="fixed">
  2615.       <parent link="ref_82_link"/>
  2616.       <child link="ref_81_link"/>
  2617.       <origin xyz="-0.000234326171875 0.00820007388318 0.0080000285206" rpy="-3.14159265359 1.57078267406 1.57079632679" />
  2618.       <axis xyz="0 0 0" />
  2619.     </joint>
  2620.  
  2621.  
  2622.     <joint name="ref_45_joint" type="fixed">
  2623.       <parent link="ref_82_link"/>
  2624.       <child link="ref_84_link"/>
  2625.       <origin xyz="-0.00812908935547 0.0322000054624 -0.00800002079704" rpy="-3.14159265359 1.57078267406 1.57079632679" />
  2626.       <axis xyz="0 0 0" />
  2627.     </joint>
  2628.  
  2629.  
  2630.     <joint name="ref_46_joint" type="fixed">
  2631.       <parent link="ref_84_link"/>
  2632.       <child link="ref_55_link"/>
  2633.       <origin xyz="0.0239994293213 0.000205404663086 0.0559909912109" rpy="-1.57079632679 0.645750255898 1.57079632679" />
  2634.       <axis xyz="0 0 0" />
  2635.     </joint>
  2636.  
  2637.  
  2638.     <joint name="ref_47_joint" type="fixed">
  2639.       <parent link="ref_84_link"/>
  2640.       <child link="ref_56_link"/>
  2641.       <origin xyz="0.0199997039795 -0.0480001373291 0.0239999389648" rpy="-0.0 1.16712662924e-05 -3.14159265359" />
  2642.       <axis xyz="0 0 0" />
  2643.     </joint>
  2644.  
  2645.  
  2646.     <joint name="ref_48_joint" type="fixed">
  2647.       <parent link="ref_84_link"/>
  2648.       <child link="ref_57_link"/>
  2649.       <origin xyz="0.0279994354248 -7.46917724609e-05 0.055951550293" rpy="-0.64574372354 -0.0 -0.0" />
  2650.       <axis xyz="0 0 0" />
  2651.     </joint>
  2652.  
  2653.  
  2654.     <joint name="ref_49_joint" type="fixed">
  2655.       <parent link="ref_84_link"/>
  2656.       <child link="ref_58_link"/>
  2657.       <origin xyz="0.0160000396729 -0.056 0.00820018310547" rpy="-3.14159265359 -1.19016694947e-05 -0.0" />
  2658.       <axis xyz="0 0 0" />
  2659.     </joint>
  2660.  
  2661.  
  2662.     <joint name="ref_50_joint" type="fixed">
  2663.       <parent link="ref_55_link"/>
  2664.       <child link="ref_49_link"/>
  2665.       <origin xyz="-0.0321207294213 -0.0162226647643 -0.00800070095054" rpy="-0.0 -0.0 -1.5618187294" />
  2666.       <axis xyz="0 0 0" />
  2667.     </joint>
  2668.  
  2669.  
  2670.     <joint name="ref_51_joint" type="fixed">
  2671.       <parent link="ref_49_link"/>
  2672.       <child link="ref_48_link"/>
  2673.       <origin xyz="-0.000197813530455 0.000199982612403 0.00799999904633" rpy="1.55989796654 -1.57079632679 -0.0" />
  2674.       <axis xyz="0 0 0" />
  2675.     </joint>
  2676.  
  2677.  
  2678.     <joint name="ref_52_joint" type="fixed">
  2679.       <parent link="ref_48_link"/>
  2680.       <child link="ref_47_link"/>
  2681.       <origin xyz="0.0399999710083 -0.0160599979793 -0.0356678243088" rpy="8.34504132549e-08 -0.0 -3.14159265359" />
  2682.       <axis xyz="0 0 0" />
  2683.     </joint>
  2684.  
  2685.  
  2686.     <joint name="ref_53_joint" type="fixed">
  2687.       <parent link="ref_47_link"/>
  2688.       <child link="ref_46_link"/>
  2689.       <origin xyz="-0.040000012207 -0.0322199594552 0.0357477529354" rpy="-0.926967010974 -0.0 -0.0" />
  2690.       <axis xyz="0 0 0" />
  2691.     </joint>
  2692.  
  2693.  
  2694.     <joint name="ref_54_joint" type="fixed">
  2695.       <parent link="ref_46_link"/>
  2696.       <child link="ref_45_link"/>
  2697.       <origin xyz="-0.00800017242432 0.0205206375122 -0.025558807373" rpy="1.57079632679 0.917467732414 -1.57079632679" />
  2698.       <axis xyz="0 0 0" />
  2699.     </joint>
  2700.  
  2701.  
  2702.     <joint name="ref_55_joint" type="fixed">
  2703.       <parent link="ref_45_link"/>
  2704.       <child link="ref_44_link"/>
  2705.       <origin xyz="-4.11856549127e-05 -0.000121564017677 -0.00399998474121" rpy="-2.48826405921 1.57079632679 -0.0" />
  2706.       <axis xyz="0 0 0" />
  2707.     </joint>
  2708.  
  2709.  
  2710.     <joint name="ref_56_joint" type="fixed">
  2711.       <parent link="ref_46_link"/>
  2712.       <child link="ref_68_link"/>
  2713.       <origin xyz="1.67846679688e-08 0.0353007843018 -0.00604174194336" rpy="1.57079632679 -0.926784656568 1.57079632679" />
  2714.       <axis xyz="0 0 0" />
  2715.     </joint>
  2716.  
  2717.  
  2718.     <joint name="ref_57_joint" type="fixed">
  2719.       <parent link="ref_68_link"/>
  2720.       <child link="ref_67_link"/>
  2721.       <origin xyz="-0.0002001798191 0.0317793000828 -1.32751449019e-07" rpy="-1.57061380549 -1.57079632679 -0.0" />
  2722.       <axis xyz="0 0 0" />
  2723.     </joint>
  2724.  
  2725.  
  2726.     <joint name="ref_58_joint" type="fixed">
  2727.       <parent link="ref_67_link"/>
  2728.       <child link="ref_70_link"/>
  2729.       <origin xyz="-0.00799990386963 0.000286003943273 0.00022101454664" rpy="-1.57079632679 0.00542830955959 1.57079632679" />
  2730.       <axis xyz="0 0 0" />
  2731.     </joint>
  2732.  
  2733.  
  2734.     <joint name="ref_59_joint" type="fixed">
  2735.       <parent link="ref_70_link"/>
  2736.       <child link="ref_69_link"/>
  2737.       <origin xyz="-0.000359299519883 0.0321209404656 -0.00399998426438" rpy="0.64925745848 1.57079632679 -0.0" />
  2738.       <axis xyz="0 0 0" />
  2739.     </joint>
  2740.  
  2741.  
  2742.     <joint name="ref_60_joint" type="fixed">
  2743.       <parent link="ref_70_link"/>
  2744.       <child link="ref_71_link"/>
  2745.       <origin xyz="-0.000198846009448 0.0161999033932 -0.0079999792099" rpy="1.57600879599 1.57079632679 -0.0" />
  2746.       <axis xyz="0 0 0" />
  2747.     </joint>
  2748.  
  2749.  
  2750.     <joint name="ref_61_joint" type="fixed">
  2751.       <parent link="ref_47_link"/>
  2752.       <child link="ref_50_link"/>
  2753.       <origin xyz="0.0399999710083 -0.0160599922268 0.0196897999863" rpy="8.34504192624e-08 -0.0 -3.14159265359" />
  2754.       <axis xyz="0 0 0" />
  2755.     </joint>
  2756.  
  2757.  
  2758.     <joint name="ref_62_joint" type="fixed">
  2759.       <parent link="ref_50_link"/>
  2760.       <child link="ref_51_link"/>
  2761.       <origin xyz="6.103515625e-09 -0.000199983161326 -0.0157999807413" rpy="1.57079632679 1.31122394478e-07 -1.57079632679" />
  2762.       <axis xyz="0 0 0" />
  2763.     </joint>
  2764.  
  2765.  
  2766.     <joint name="ref_63_joint" type="fixed">
  2767.       <parent link="ref_51_link"/>
  2768.       <child link="ref_52_link"/>
  2769.       <origin xyz="-0.0163599669782 0.0318579211688 1.8310546875e-08" rpy="-0.643829530394 1.57079632679 -0.0" />
  2770.       <axis xyz="0 0 0" />
  2771.     </joint>
  2772.  
  2773.  
  2774.     <joint name="ref_64_joint" type="fixed">
  2775.       <parent link="ref_52_link"/>
  2776.       <child link="ref_53_link"/>
  2777.       <origin xyz="-0.00799927978516 -0.0205224685669 -0.0255599243164" rpy="1.57079632679 0.928236065379 1.57079632679" />
  2778.       <axis xyz="0 0 0" />
  2779.     </joint>
  2780.  
  2781.  
  2782.     <joint name="ref_65_joint" type="fixed">
  2783.       <parent link="ref_53_link"/>
  2784.       <child link="ref_54_link"/>
  2785.       <origin xyz="-3.98863461097e-05 -0.000119847141567 0.00399999341965" rpy="-2.49903239217 1.57079632679 -0.0" />
  2786.       <axis xyz="0 0 0" />
  2787.     </joint>
  2788.  
  2789.  
  2790.     <joint name="ref_66_joint" type="fixed">
  2791.       <parent link="ref_55_link"/>
  2792.       <child link="ref_83_link"/>
  2793.       <origin xyz="0.0399203762584 0.0400263221671 0.0239993227006" rpy="2.21654658269 1.57079632679 -0.0" />
  2794.       <axis xyz="0 0 0" />
  2795.     </joint>
  2796.  
  2797.  
  2798.     <joint name="ref_67_joint" type="fixed">
  2799.       <parent link="ref_83_link"/>
  2800.       <child link="ref_85_link"/>
  2801.       <origin xyz="-2.01416015625e-07 -0.0160000419617 -4.2724609375e-08" rpy="3.14159265359 1.57079632679 -0.0" />
  2802.       <axis xyz="0 0 0" />
  2803.     </joint>
  2804.  
  2805.  
  2806.     <joint name="ref_68_joint" type="fixed">
  2807.       <parent link="ref_85_link"/>
  2808.       <child link="ref_64_link"/>
  2809.       <origin xyz="-5.4931640625e-08 -0.0240000694275 -0.00400024719238" rpy="3.14159265359 1.57079632679 -0.0" />
  2810.       <axis xyz="0 0 0" />
  2811.     </joint>
  2812.  
  2813.  
  2814.     <joint name="ref_69_joint" type="fixed">
  2815.       <parent link="ref_55_link"/>
  2816.       <child link="ref_59_link"/>
  2817.       <origin xyz="0.0510787816103 0.0216009881725 -5.43212825869e-07" rpy="1.57079632679 -0.0 -0.645750255898" />
  2818.       <axis xyz="0 0 0" />
  2819.     </joint>
  2820.  
  2821.     <!-- CAMBIADO A MANO CALCANDO LA OTRA RUEDA -->
  2822.      <joint name="ref_70_joint" type="fixed">
  2823.       <parent link="ref_58_link_hub"/>
  2824.       <child link="ref_60_link"/>
  2825.       <origin xyz="-0.0135999953902 6.27180865763e-08 0.00020025516928" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
  2826.       <axis xyz="0 0 0" />
  2827.     </joint>
  2828.  
  2829.  
  2830.     <joint name="ref_71_joint" type="fixed">
  2831.       <parent link="ref_58_link_hub"/>
  2832.       <child link="ref_61_link"/>
  2833.       <origin xyz="-0.0139999923388 3.3327066933e-08 0.000200252172577" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
  2834.       <axis xyz="0 0 0" />
  2835.     </joint>
  2836.    
  2837.  
  2838.     <joint name="ref_72_joint" type="fixed">
  2839.       <parent link="ref_58_link_hub"/>
  2840.       <child link="ref_62_link"/>
  2841.       <origin xyz="-0.0248000045457 4.84863450879e-08 0.000200250608749" rpy="-1.57050969656 -1.57079580134 3.14158220772" />
  2842.       <axis xyz="0 0 0" />
  2843.     </joint>
  2844.  
  2845.  
  2846.     <joint name="ref_73_joint" type="fixed">
  2847.       <parent link="ref_58_link_hub"/>
  2848.       <child link="ref_63_link"/>
  2849.       <origin xyz="-0.0248000045455 6.06933763379e-08 0.000200253660507" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
  2850.       <axis xyz="0 0 0" />
  2851.     </joint>
  2852.  
  2853.  
  2854.     <joint name="ref_74_joint" type="fixed">
  2855.       <parent link="ref_55_link"/>
  2856.       <child link="ref_65_link"/>
  2857.       <origin xyz="-0.00646877793183 0.0449307060853 0.00399969434742" rpy="2.21654658269 1.57079632679 -0.0" />
  2858.       <axis xyz="0 0 0" />
  2859.     </joint>
  2860.  
  2861.  
  2862.     <joint name="ref_75_joint" type="fixed">
  2863.       <parent link="ref_55_link"/>
  2864.       <child link="ref_66_link"/>
  2865.       <origin xyz="-0.012857941605 0.0497451084184 0.00399971265796" rpy="2.21654658269 1.57079632679 -0.0" />
  2866.       <axis xyz="0 0 0" />
  2867.     </joint>
  2868.  
  2869.  
  2870.     <joint name="ref_76_joint" type="fixed">
  2871.       <parent link="ref_80_link"/>
  2872.       <child link="ref_87_link"/>
  2873.       <origin xyz="-0.00820010430812 0.0321999442816 0.00800022220609" rpy="1.57079632679 -1.57079632679 -0.0" />
  2874.       <axis xyz="0 0 0" />
  2875.     </joint>
  2876.  
  2877.  
  2878.     <joint name="ref_77_joint" type="fixed">
  2879.       <parent link="ref_87_link"/>
  2880.       <child link="ref_88_link"/>
  2881.       <origin xyz="-8.7559223175e-08 0.00800003890991 1.55639648438e-07" rpy="0.0 1.57079632679 -0.0" />
  2882.       <axis xyz="0 0 0" />
  2883.     </joint>
  2884.  
  2885.  
  2886.     <joint name="ref_78_joint" type="fixed">
  2887.       <parent link="ref_88_link"/>
  2888.       <child link="ref_76_link"/>
  2889.       <origin xyz="3.08227539063e-07 -0.02400001297 0.00400005322695" rpy="3.14159265359 1.57079632679 -0.0" />
  2890.       <axis xyz="0 0 0" />
  2891.     </joint>
  2892.  
  2893.  
  2894.     <joint name="ref_79_joint" type="fixed">
  2895.       <parent link="ref_37_link"/>
  2896.       <child link="ref_41_link"/>
  2897.       <origin xyz="-0.00799978489107 -0.0839998401413 0.000200239135829" rpy="3.14157725705 -1.60830320674e-10 -1.57080677267" />
  2898.       <axis xyz="0 0 0" />
  2899.     </joint>
  2900.  
  2901.  
  2902.     <joint name="ref_80_joint" type="fixed">
  2903.       <parent link="ref_37_link"/>
  2904.       <child link="ref_42_link"/>
  2905.       <origin xyz="-0.00399999652623 -0.023999902522 -0.0157998346541" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
  2906.       <axis xyz="0 0 0" />
  2907.     </joint>
  2908.  
  2909.  
  2910.     <joint name="ref_81_joint" type="fixed">
  2911.       <parent link="ref_37_link"/>
  2912.       <child link="ref_43_link"/>
  2913.       <origin xyz="-0.00400000908922 -0.0159999093883 -0.0157998041363" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
  2914.       <axis xyz="0 0 0" />
  2915.     </joint>
  2916.  
  2917.  
  2918.     <joint name="ref_82_joint" type="fixed">
  2919.       <parent link="ref_37_link_hub"/>
  2920.       <child link="ref_72_link"/>
  2921.       <origin xyz="-0.0135999953902 6.27180865763e-08 0.00020025516928" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
  2922.       <axis xyz="0 0 0" />
  2923.     </joint>
  2924.  
  2925.  
  2926.     <joint name="ref_83_joint" type="fixed">
  2927.       <parent link="ref_37_link_hub"/>
  2928.       <child link="ref_73_link"/>
  2929.       <origin xyz="-0.0248000045457 4.84863450879e-08 0.000200250608749" rpy="-1.57050969656 -1.57079580134 3.14158220772" />
  2930.       <axis xyz="0 0 0" />
  2931.     </joint>
  2932.  
  2933.  
  2934.     <joint name="ref_84_joint" type="fixed">
  2935.       <parent link="ref_37_link_hub"/>
  2936.       <child link="ref_74_link"/>
  2937.       <origin xyz="-0.0248000045455 6.06933763379e-08 0.000200253660507" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
  2938.       <axis xyz="0 0 0" />
  2939.     </joint>
  2940.  
  2941.  
  2942.     <joint name="ref_85_joint" type="fixed">
  2943.       <parent link="ref_37_link_hub"/>
  2944.       <child link="ref_75_link"/>
  2945.       <origin xyz="-0.0139999923388 3.3327066933e-08 0.000200252172577" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
  2946.       <axis xyz="0 0 0" />
  2947.     </joint>
  2948.  
  2949.  
  2950.     <joint name="ref_86_joint" type="fixed">
  2951.       <parent link="ref_27_link"/>
  2952.       <child link="ref_77_link"/>
  2953.       <origin xyz="1.61743144781e-07 0.024000021553 -0.00399992017747" rpy="3.14159265359 1.57079632679 -0.0" />
  2954.       <axis xyz="0 0 0" />
  2955.     </joint>
  2956.  
  2957.  
  2958.     <joint name="ref_87_joint" type="fixed">
  2959.       <parent link="ref_25_link"/>
  2960.       <child link="ref_78_link"/>
  2961.       <origin xyz="-0.00020022277832 0.0161999919653 0.00399998121262" rpy="1.57078310252 1.57079632679 -0.0" />
  2962.       <axis xyz="0 0 0" />
  2963.     </joint>
  2964.    
  2965.     <!-- GAZEBO STUFF -->
  2966.     <gazebo reference="caster_wheel_link">
  2967.       <mu1 value="100.0" />
  2968.       <mu2 value="100.0" />
  2969.       <kp  value="1000000.0" />
  2970.       <kd  value="1.0" />
  2971.     </gazebo>
  2972.    
  2973.     <gazebo>
  2974.       <controller:nxt_diff_plugin name="differential_drive_controller" plugin="libnxt_diff_plugin.so">
  2975.         <alwaysOn>true</alwaysOn>
  2976.         <update>100</update>
  2977.         <updateRate>100.0</updateRate>
  2978.         <leftJoint>left_wheel_joint</leftJoint>
  2979.         <rightJoint>right_wheel_joint</rightJoint>
  2980.         <wheelSeparation>0.34</wheelSeparation>
  2981.         <wheelDiameter>0.1492</wheelDiameter>
  2982.         <torque>5</torque>
  2983.         <interface:position name="position_iface_0"/>
  2984.         <robotNamespace>/</robotNamespace>
  2985.         <topicName>cmd_vel</topicName>
  2986.       </controller:nxt_diff_plugin>
  2987.      
  2988.       <canonicalBody>base_link</canonicalBody>
  2989.      
  2990.       <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
  2991.         <alwaysOn>true</alwaysOn>
  2992.         <updateRate>100.0</updateRate>
  2993.         <interface:audio name="gazebo_ros_controller_manager_dummy_iface" />
  2994.       </controller:gazebo_ros_controller_manager>
  2995.     </gazebo>
  2996.    
  2997. </robot>
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