Advertisement
Guest User

robot.urdf.xacro

a guest
Apr 12th, 2012
200
Never
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
XML 106.96 KB
  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="0.10000" />
  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.           <box size="0 0 0"/>
  57.         </geometry>
  58.       </collision>
  59.     </link>
  60.  
  61.  
  62.     <link name="ref_1_link">
  63.       <inertial>
  64.         <mass value="0.10000" />
  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 0 0" />
  79.         <geometry>
  80.           <box size="0 0 0"/>
  81.         </geometry>
  82.       </collision>
  83.     </link>
  84.  
  85.  
  86.     <link name="ref_2_link">
  87.       <inertial>
  88.         <mass value="0.10000" />
  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.           <box size="0 0 0"/>
  105.         </geometry>
  106.       </collision>
  107.     </link>
  108.  
  109.  
  110.     <link name="ref_3_link">
  111.       <inertial>
  112.         <mass value="0.10000" />
  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.           <box size="0 0 0"/>
  129.         </geometry>
  130.       </collision>
  131.     </link>
  132.  
  133.  
  134.     <link name="ref_4_link">
  135.       <inertial>
  136.         <mass value="0.10000" />
  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.           <box size="0 0 0"/>
  153.         </geometry>
  154.       </collision>
  155.     </link>
  156.  
  157.  
  158.     <link name="ref_5_link">
  159.       <inertial>
  160.         <mass value="0.10000" />
  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.           <box size="0 0 0"/>
  177.         </geometry>
  178.       </collision>
  179.     </link>
  180.  
  181.  
  182.     <link name="ref_6_link">
  183.       <inertial>
  184.         <mass value="0.10000" />
  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.           <box size="0 0 0"/>
  201.         </geometry>
  202.       </collision>
  203.     </link>
  204.  
  205.  
  206.     <link name="ref_7_link">
  207.       <inertial>
  208.         <mass value="0.10000" />
  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.           <box size="0 0 0"/>
  225.         </geometry>
  226.       </collision>
  227.     </link>
  228.  
  229.  
  230.     <link name="ref_8_link">
  231.       <inertial>
  232.         <mass value="0.10000" />
  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.           <box size="0 0 0"/>
  249.         </geometry>
  250.       </collision>
  251.     </link>
  252.  
  253.  
  254.     <link name="ref_9_link">
  255.       <inertial>
  256.         <mass value="0.10000" />
  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 0 0" />
  271.         <geometry>
  272.           <box size="0 0 0"/>
  273.         </geometry>
  274.       </collision>
  275.     </link>
  276.  
  277.  
  278.     <link name="ref_10_link">
  279.       <inertial>
  280.         <mass value="0.10000" />
  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.           <box size="0 0 0"/>
  297.         </geometry>
  298.       </collision>
  299.     </link>
  300.  
  301.  
  302.     <link name="ref_11_link">
  303.       <inertial>
  304.         <mass value="0.10000" />
  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.           <box size="0 0 0"/>
  321.         </geometry>
  322.       </collision>
  323.     </link>
  324.  
  325.  
  326.     <link name="ref_12_link">
  327.       <inertial>
  328.         <mass value="0.10000" />
  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.           <box size="0 0 0"/>
  345.         </geometry>
  346.       </collision>
  347.     </link>
  348.  
  349.  
  350.     <link name="ref_13_link">
  351.       <inertial>
  352.         <mass value="0.10000" />
  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 0 0" />
  367.         <geometry>
  368.           <box size="0 0 0"/>
  369.         </geometry>
  370.       </collision>
  371.     </link>
  372.  
  373.  
  374.     <link name="ref_14_link">
  375.       <inertial>
  376.         <mass value="0.10000" />
  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.           <box size="0 0 0"/>
  393.         </geometry>
  394.       </collision>
  395.     </link>
  396.  
  397.  
  398.     <link name="ref_15_link">
  399.       <inertial>
  400.         <mass value="0.10000" />
  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.           <box size="0 0 0"/>
  417.         </geometry>
  418.       </collision>
  419.     </link>
  420.  
  421.  
  422.     <link name="ref_16_link">
  423.       <inertial>
  424.         <mass value="0.10000" />
  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.           <box size="0 0 0"/>
  441.         </geometry>
  442.       </collision>
  443.     </link>
  444.  
  445.  
  446.     <link name="ref_17_link">
  447.       <inertial>
  448.         <mass value="0.10000" />
  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.           <box size="0 0 0"/>
  465.         </geometry>
  466.       </collision>
  467.     </link>
  468.  
  469.  
  470.     <link name="ref_18_link">
  471.       <inertial>
  472.         <mass value="0.10000" />
  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.           <box size="0 0 0"/>
  489.         </geometry>
  490.       </collision>
  491.     </link>
  492.  
  493.  
  494.     <link name="caster_wheel_link">
  495.       <inertial>
  496.         <mass value="0.10000" />
  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="1.570795 0 0" />
  511.         <geometry>
  512.           <cylinder length=".0067" radius="0.0185"/>
  513.           <!-- mesh filename="package://nxt_description/meshes/parts/32498.dae" scale=" 0.0004  0.0004  0.0004"/ -->
  514.         </geometry>
  515.       </collision>
  516.     </link>
  517.  
  518.  
  519.     <link name="ref_20_link">
  520.       <inertial>
  521.         <mass value="0.10000" />
  522.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  523.         <origin xyz="0.0 0.0 0" />
  524.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  525.       </inertial>
  526.       <visual>
  527.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  528.         <origin xyz="0 0 0" rpy="0 0 0" />
  529.         <geometry>
  530.           <mesh filename="package://nxt_description/meshes/parts/32073.dae" scale=" 0.0004  0.0004  0.0004"/>
  531.         </geometry>
  532.       </visual>
  533.       <collision>
  534.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  535.         <origin xyz="0 0 0" rpy="0 0 0" />
  536.         <geometry>
  537.           <box size="0 0 0"/>
  538.         </geometry>
  539.       </collision>
  540.     </link>
  541.  
  542.  
  543.     <link name="ref_21_link">
  544.       <inertial>
  545.         <mass value="0.10000" />
  546.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  547.         <origin xyz="0.0 0.0 0" />
  548.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  549.       </inertial>
  550.       <visual>
  551.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  552.         <origin xyz="0 0 0" rpy="0 0 0" />
  553.         <geometry>
  554.           <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004  0.0004  0.0004"/>
  555.         </geometry>
  556.       </visual>
  557.       <collision>
  558.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  559.         <origin xyz="0 0 0" rpy="0 0 0" />
  560.         <geometry>
  561.           <box size="0 0 0"/>
  562.         </geometry>
  563.       </collision>
  564.     </link>
  565.  
  566.  
  567.     <link name="ref_22_link">
  568.       <inertial>
  569.         <mass value="0.10000" />
  570.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  571.         <origin xyz="0.0 0.0 0" />
  572.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  573.       </inertial>
  574.       <visual>
  575.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  576.         <origin xyz="0 0 0" rpy="0 0 0" />
  577.         <geometry>
  578.           <mesh filename="package://nxt_description/meshes/parts/42003.dae" scale=" 0.0004  0.0004  0.0004"/>
  579.         </geometry>
  580.       </visual>
  581.       <collision>
  582.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  583.         <origin xyz="0 0 0" rpy="0 0 0" />
  584.         <geometry>
  585.           <box size="0 0 0"/>
  586.         </geometry>
  587.       </collision>
  588.     </link>
  589.  
  590.  
  591.     <link name="ref_23_link">
  592.       <inertial>
  593.         <mass value="0.10000" />
  594.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  595.         <origin xyz="0.0 0.0 0" />
  596.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  597.       </inertial>
  598.       <visual>
  599.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  600.         <origin xyz="0 0 0" rpy="0 0 0" />
  601.         <geometry>
  602.           <mesh filename="package://nxt_description/meshes/parts/42003.dae" scale=" 0.0004  0.0004  0.0004"/>
  603.         </geometry>
  604.       </visual>
  605.       <collision>
  606.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  607.         <origin xyz="0 0 0" rpy="0 0 0" />
  608.         <geometry>
  609.           <box size="0 0 0"/>
  610.         </geometry>
  611.       </collision>
  612.     </link>
  613.  
  614.  
  615.     <link name="ref_24_link">
  616.       <inertial>
  617.         <mass value="0.10000" />
  618.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  619.         <origin xyz="0.0 0.0 0" />
  620.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  621.       </inertial>
  622.       <visual>
  623.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  624.         <origin xyz="0 0 0" rpy="0 0 0" />
  625.         <geometry>
  626.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  627.         </geometry>
  628.       </visual>
  629.       <collision>
  630.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  631.         <origin xyz="0 0 0" rpy="0 0 0" />
  632.         <geometry>
  633.           <box size="0 0 0"/>
  634.         </geometry>
  635.       </collision>
  636.     </link>
  637.  
  638.  
  639.     <link name="ref_25_link">
  640.       <inertial>
  641.         <mass value="0.10000" />
  642.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  643.         <origin xyz="0.0 0.0 0" />
  644.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  645.       </inertial>
  646.       <visual>
  647.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  648.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  649.         <geometry>
  650.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  651.         </geometry>
  652.       </visual>
  653.       <collision>
  654.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  655.         <origin xyz="0 0 0" rpy="0 0 0" />
  656.         <geometry>
  657.           <box size="0 0 0"/>
  658.         </geometry>
  659.       </collision>
  660.     </link>
  661.  
  662.  
  663.     <link name="ref_26_link">
  664.       <inertial>
  665.         <mass value="0.10000" />
  666.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  667.         <origin xyz="0.0 0.0 0" />
  668.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  669.       </inertial>
  670.       <visual>
  671.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  672.         <origin xyz="0 0 0" rpy="0 0 0" />
  673.         <geometry>
  674.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  675.         </geometry>
  676.       </visual>
  677.       <collision>
  678.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  679.         <origin xyz="0 0 0" rpy="0 0 0" />
  680.         <geometry>
  681.           <box size="0 0 0"/>
  682.         </geometry>
  683.       </collision>
  684.     </link>
  685.  
  686.  
  687.     <link name="ref_27_link">
  688.       <inertial>
  689.         <mass value="0.10000" />
  690.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  691.         <origin xyz="0.0 0.0 0" />
  692.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  693.       </inertial>
  694.       <visual>
  695.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  696.         <origin xyz="0 0 0" rpy="0 0 0" />
  697.         <geometry>
  698.           <mesh filename="package://nxt_description/meshes/parts/32525.dae" scale=" 0.0004  0.0004  0.0004"/>
  699.         </geometry>
  700.       </visual>
  701.       <collision>
  702.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  703.         <origin xyz="0 0 0" rpy="0 0 0" />
  704.         <geometry>
  705.           <box size="0 0 0"/>
  706.         </geometry>
  707.       </collision>
  708.     </link>
  709.  
  710.  
  711.     <link name="ref_28_link">
  712.       <inertial>
  713.         <mass value="0.10000" />
  714.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  715.         <origin xyz="0.0 0.0 0" />
  716.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  717.       </inertial>
  718.       <visual>
  719.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  720.         <origin xyz="0 0 0" rpy="0 0 0" />
  721.         <geometry>
  722.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  723.         </geometry>
  724.       </visual>
  725.       <collision>
  726.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  727.         <origin xyz="0 0 0" rpy="0 0 0" />
  728.         <geometry>
  729.           <box size="0 0 0"/>
  730.         </geometry>
  731.       </collision>
  732.     </link>
  733.  
  734.  
  735.     <link name="ref_29_link">
  736.       <inertial>
  737.         <mass value="0.10000" />
  738.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  739.         <origin xyz="0.0 0.0 0" />
  740.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  741.       </inertial>
  742.       <visual>
  743.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  744.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  745.         <geometry>
  746.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  747.         </geometry>
  748.       </visual>
  749.       <collision>
  750.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  751.         <origin xyz="0 0 0" rpy="0 0 0" />
  752.         <geometry>
  753.           <box size="0 0 0"/>
  754.         </geometry>
  755.       </collision>
  756.     </link>
  757.  
  758.  
  759.     <link name="ref_30_link">
  760.       <inertial>
  761.         <mass value="0.10000" />
  762.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  763.         <origin xyz="0.0 0.0 0" />
  764.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  765.       </inertial>
  766.       <visual>
  767.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  768.         <origin xyz="0 0 0" rpy="0 0 0" />
  769.         <geometry>
  770.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  771.         </geometry>
  772.       </visual>
  773.       <collision>
  774.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  775.         <origin xyz="0 0 0" rpy="0 0 0" />
  776.         <geometry>
  777.           <box size="0 0 0"/>
  778.         </geometry>
  779.       </collision>
  780.     </link>
  781.  
  782.  
  783.     <link name="ref_31_link">
  784.       <inertial>
  785.         <mass value="0.10000" />
  786.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  787.         <origin xyz="0.0 0.0 0" />
  788.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  789.       </inertial>
  790.       <visual>
  791.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  792.         <origin xyz="0 0 0" rpy="0 0 0" />
  793.         <geometry>
  794.           <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale=" 0.0004  0.0004  0.0004"/>
  795.         </geometry>
  796.       </visual>
  797.       <collision>
  798.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  799.         <origin xyz="0 0 0" rpy="0 0 0" />
  800.         <geometry>
  801.           <box size="0 0 0"/>
  802.         </geometry>
  803.       </collision>
  804.     </link>
  805.  
  806.  
  807.     <link name="ref_32_link">
  808.       <inertial>
  809.         <mass value="0.10000" />
  810.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  811.         <origin xyz="0.0 0.0 0" />
  812.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  813.       </inertial>
  814.       <visual>
  815.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  816.         <origin xyz="0 0 0" rpy="0 0 0" />
  817.         <geometry>
  818.           <mesh filename="package://nxt_description/meshes/parts/32073.dae" scale=" 0.0004  0.0004  0.0004"/>
  819.         </geometry>
  820.       </visual>
  821.       <collision>
  822.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  823.         <origin xyz="0 0 0" rpy="0 0 0" />
  824.         <geometry>
  825.           <box size="0 0 0"/>
  826.         </geometry>
  827.       </collision>
  828.     </link>
  829.  
  830.  
  831.     <link name="ref_33_link">
  832.       <inertial>
  833.         <mass value="0.10000" />
  834.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  835.         <origin xyz="0.0 0.0 0" />
  836.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  837.       </inertial>
  838.       <visual>
  839.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  840.         <origin xyz="0 0 0" rpy="0 0 0" />
  841.         <geometry>
  842.           <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004  0.0004  0.0004"/>
  843.         </geometry>
  844.       </visual>
  845.       <collision>
  846.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  847.         <origin xyz="0 0 0" rpy="0 0 0" />
  848.         <geometry>
  849.           <box size="0 0 0"/>
  850.         </geometry>
  851.       </collision>
  852.     </link>
  853.  
  854.  
  855.     <link name="ref_34_link">
  856.       <inertial>
  857.         <mass value="0.10000" />
  858.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  859.         <origin xyz="0.0 0.0 0" />
  860.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  861.       </inertial>
  862.       <visual>
  863.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  864.         <origin xyz="0 0 0" rpy="0 0 0" />
  865.         <geometry>
  866.           <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale=" 0.0004  0.0004  0.0004"/>
  867.         </geometry>
  868.       </visual>
  869.       <collision>
  870.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  871.         <origin xyz="0 0 0" rpy="0 0 0" />
  872.         <geometry>
  873.           <box size="0 0 0"/>
  874.         </geometry>
  875.       </collision>
  876.     </link>
  877.  
  878.  
  879.     <link name="ref_35_link">
  880.       <inertial>
  881.         <mass value="0.10000" />
  882.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  883.         <origin xyz="0.0 0.0 0" />
  884.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  885.       </inertial>
  886.       <visual>
  887.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  888.         <origin xyz="0 0 0" rpy="0 0 0" />
  889.         <geometry>
  890.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  891.         </geometry>
  892.       </visual>
  893.       <collision>
  894.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  895.         <origin xyz="0 0 0" rpy="0 0 0" />
  896.         <geometry>
  897.           <box size="0 0 0"/>
  898.         </geometry>
  899.       </collision>
  900.     </link>
  901.  
  902.  
  903.     <link name="ref_36_link">
  904.       <inertial>
  905.         <mass value="0.10000" />
  906.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  907.         <origin xyz="0.0 0.0 0" />
  908.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  909.       </inertial>
  910.       <visual>
  911.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  912.         <origin xyz="0 0 0" rpy="0 0 0" />
  913.         <geometry>
  914.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  915.         </geometry>
  916.       </visual>
  917.       <collision>
  918.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  919.         <origin xyz="0 0 0" rpy="0 0 0" />
  920.         <geometry>
  921.           <box size="0 0 0"/>
  922.         </geometry>
  923.       </collision>
  924.     </link>
  925.  
  926.  
  927.     <link name="ref_37_link">
  928.       <inertial>
  929.         <mass value="0.10000" />
  930.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  931.         <origin xyz="0.0 0.0 0" />
  932.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  933.       </inertial>
  934.       <visual>
  935.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  936.         <origin xyz="0 0 0" rpy="0 0 0" />
  937.         <geometry>
  938.           <mesh filename="package://nxt_description/meshes/parts/53787.dae" scale=" 0.0004  0.0004  0.0004"/>
  939.         </geometry>
  940.       </visual>
  941.       <collision>
  942.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  943.         <origin xyz="0 0 0" rpy="0 0 0" />
  944.         <geometry>
  945.           <box size="0 0 0"/>
  946.         </geometry>
  947.       </collision>
  948.     </link>
  949.  
  950.     <link name="ref_37_link_hub">
  951.       <inertial>
  952.         <mass value="0.10000" />
  953.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  954.         <origin xyz="0.0 0.0 0" />
  955.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  956.       </inertial>
  957.       <visual>
  958.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  959.         <origin xyz="0 0 0" rpy="0 0 0" />
  960.         <geometry>
  961.           <mesh filename="package://nxt_description/meshes/parts/servo_hubs.dae" scale=" 0.0004  0.0004  0.0004"/>
  962.         </geometry>
  963.       </visual>
  964.       <collision>
  965.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  966.         <origin xyz="0 0 0" rpy="0 0 0" />
  967.         <geometry>
  968.           <box size="0 0 0"/>
  969.         </geometry>
  970.       </collision>
  971.     </link>
  972.  
  973.     <!--THIS IS THE MOTOR JOINT RENAME AND FIX BY 180 WHEN NEEDED-->
  974.     <joint name="right_wheel_joint" type="continuous">
  975.       <parent link="ref_37_link"/>
  976.       <child link="ref_37_link_hub"/>
  977.       <origin xyz="0 0 0" rpy="0 0 0" />
  978.       <axis xyz="1 0 0" />
  979.     </joint>
  980.    
  981.     <transmission type="pr2_mechanism_model/SimpleTransmission" name="right_wheel_trans">
  982.       <actuator name="right_wheel_motor" />
  983.       <joint name="right_wheel_joint" />
  984.       <mechanicalReduction>1.0</mechanicalReduction>
  985.     </transmission>
  986.  
  987.  
  988.  
  989.     <link name="ref_38_link">
  990.       <inertial>
  991.         <mass value="0.10000" />
  992.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  993.         <origin xyz="0.0 0.0 0" />
  994.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  995.       </inertial>
  996.       <visual>
  997.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  998.         <origin xyz="0 0 0" rpy="0 0 0" />
  999.         <geometry>
  1000.           <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004  0.0004  0.0004"/>
  1001.         </geometry>
  1002.       </visual>
  1003.       <collision>
  1004.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1005.         <origin xyz="0 0 0" rpy="0 0 0" />
  1006.         <geometry>
  1007.           <box size="0 0 0"/>
  1008.         </geometry>
  1009.       </collision>
  1010.     </link>
  1011.  
  1012.  
  1013.     <link name="ref_39_link">
  1014.       <inertial>
  1015.         <mass value="0.10000" />
  1016.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1017.         <origin xyz="0.0 0.0 0" />
  1018.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1019.       </inertial>
  1020.       <visual>
  1021.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1022.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1023.         <geometry>
  1024.           <mesh filename="package://nxt_description/meshes/parts/6629.dae" scale=" 0.0004  0.0004  0.0004"/>
  1025.         </geometry>
  1026.       </visual>
  1027.       <collision>
  1028.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1029.         <origin xyz="0 0 0" rpy="0 0 0" />
  1030.         <geometry>
  1031.           <box size="0 0 0"/>
  1032.         </geometry>
  1033.       </collision>
  1034.     </link>
  1035.  
  1036.  
  1037.     <link name="ref_40_link">
  1038.       <inertial>
  1039.         <mass value="0.10000" />
  1040.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1041.         <origin xyz="0.0 0.0 0" />
  1042.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1043.       </inertial>
  1044.       <visual>
  1045.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1046.         <origin xyz="0 0 0" rpy="0 0 0" />
  1047.         <geometry>
  1048.           <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004  0.0004  0.0004"/>
  1049.         </geometry>
  1050.       </visual>
  1051.       <collision>
  1052.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1053.         <origin xyz="0 0 0" rpy="0 0 0" />
  1054.         <geometry>
  1055.           <box size="0 0 0"/>
  1056.         </geometry>
  1057.       </collision>
  1058.     </link>
  1059.  
  1060.  
  1061.     <link name="ref_41_link">
  1062.       <inertial>
  1063.         <mass value="0.10000" />
  1064.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1065.         <origin xyz="0.0 0.0 0" />
  1066.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1067.       </inertial>
  1068.       <visual>
  1069.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1070.         <origin xyz="0 0 0" rpy="0 0 0" />
  1071.         <geometry>
  1072.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1073.         </geometry>
  1074.       </visual>
  1075.       <collision>
  1076.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1077.         <origin xyz="0 0 0" rpy="0 0 0" />
  1078.         <geometry>
  1079.           <box size="0 0 0"/>
  1080.         </geometry>
  1081.       </collision>
  1082.     </link>
  1083.  
  1084.  
  1085.     <link name="ref_42_link">
  1086.       <inertial>
  1087.         <mass value="0.10000" />
  1088.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1089.         <origin xyz="0.0 0.0 0" />
  1090.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1091.       </inertial>
  1092.       <visual>
  1093.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1094.         <origin xyz="0 0 0" rpy="0 0 0" />
  1095.         <geometry>
  1096.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1097.         </geometry>
  1098.       </visual>
  1099.       <collision>
  1100.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1101.         <origin xyz="0 0 0" rpy="0 0 0" />
  1102.         <geometry>
  1103.           <box size="0 0 0"/>
  1104.         </geometry>
  1105.       </collision>
  1106.     </link>
  1107.  
  1108.  
  1109.     <link name="ref_43_link">
  1110.       <inertial>
  1111.         <mass value="0.10000" />
  1112.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1113.         <origin xyz="0.0 0.0 0" />
  1114.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1115.       </inertial>
  1116.       <visual>
  1117.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1118.         <origin xyz="0 0 0" rpy="0 0 0" />
  1119.         <geometry>
  1120.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1121.         </geometry>
  1122.       </visual>
  1123.       <collision>
  1124.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1125.         <origin xyz="0 0 0" rpy="0 0 0" />
  1126.         <geometry>
  1127.           <box size="0 0 0"/>
  1128.         </geometry>
  1129.       </collision>
  1130.     </link>
  1131.  
  1132.  
  1133.     <link name="ref_44_link">
  1134.       <inertial>
  1135.         <mass value="0.10000" />
  1136.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1137.         <origin xyz="0.0 0.0 0" />
  1138.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1139.       </inertial>
  1140.       <visual>
  1141.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1142.         <origin xyz="0 0 0" rpy="0 0 0" />
  1143.         <geometry>
  1144.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1145.         </geometry>
  1146.       </visual>
  1147.       <collision>
  1148.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1149.         <origin xyz="0 0 0" rpy="0 0 0" />
  1150.         <geometry>
  1151.           <box size="0 0 0"/>
  1152.         </geometry>
  1153.       </collision>
  1154.     </link>
  1155.  
  1156.  
  1157.     <link name="ref_45_link">
  1158.       <inertial>
  1159.         <mass value="0.10000" />
  1160.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1161.         <origin xyz="0.0 0.0 0" />
  1162.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1163.       </inertial>
  1164.       <visual>
  1165.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1166.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1167.         <geometry>
  1168.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1169.         </geometry>
  1170.       </visual>
  1171.       <collision>
  1172.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1173.         <origin xyz="0 0 0" rpy="0 0 0" />
  1174.         <geometry>
  1175.           <box size="0 0 0"/>
  1176.         </geometry>
  1177.       </collision>
  1178.     </link>
  1179.  
  1180.  
  1181.     <link name="ref_46_link">
  1182.       <inertial>
  1183.         <mass value="0.10000" />
  1184.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1185.         <origin xyz="0.0 0.0 0" />
  1186.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1187.       </inertial>
  1188.       <visual>
  1189.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1190.         <origin xyz="0 0 0" rpy="0 0 0" />
  1191.         <geometry>
  1192.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1193.         </geometry>
  1194.       </visual>
  1195.       <collision>
  1196.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1197.         <origin xyz="0 0 0" rpy="0 0 0" />
  1198.         <geometry>
  1199.           <box size="0 0 0"/>
  1200.         </geometry>
  1201.       </collision>
  1202.     </link>
  1203.  
  1204.  
  1205.     <link name="ref_47_link">
  1206.       <inertial>
  1207.         <mass value="0.10000" />
  1208.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1209.         <origin xyz="0.0 0.0 0" />
  1210.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1211.       </inertial>
  1212.       <visual>
  1213.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1214.         <origin xyz="0 0 0" rpy="0 0 0" />
  1215.         <geometry>
  1216.           <mesh filename="package://nxt_description/meshes/parts/53788.dae" scale=" 0.0004  0.0004  0.0004"/>
  1217.         </geometry>
  1218.       </visual>
  1219.       <collision>
  1220.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1221.         <origin xyz="0 0 0" rpy="0 0 0" />
  1222.         <geometry>
  1223.           <box size="0 0 0"/>
  1224.         </geometry>
  1225.       </collision>
  1226.     </link>
  1227.  
  1228.  
  1229.     <link name="ref_48_link">
  1230.       <inertial>
  1231.         <mass value="0.10000" />
  1232.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1233.         <origin xyz="0.0 0.0 0" />
  1234.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1235.       </inertial>
  1236.       <visual>
  1237.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1238.         <origin xyz="0 0 0" rpy="0 0 0" />
  1239.         <geometry>
  1240.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1241.         </geometry>
  1242.       </visual>
  1243.       <collision>
  1244.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1245.         <origin xyz="0 0 0" rpy="0 0 0" />
  1246.         <geometry>
  1247.           <box size="0 0 0"/>
  1248.         </geometry>
  1249.       </collision>
  1250.     </link>
  1251.  
  1252.  
  1253.     <link name="ref_49_link">
  1254.       <inertial>
  1255.         <mass value="0.10000" />
  1256.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1257.         <origin xyz="0.0 0.0 0" />
  1258.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1259.       </inertial>
  1260.       <visual>
  1261.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1262.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1263.         <geometry>
  1264.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1265.         </geometry>
  1266.       </visual>
  1267.       <collision>
  1268.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1269.         <origin xyz="0 0 0" rpy="0 0 0" />
  1270.         <geometry>
  1271.           <box size="0 0 0"/>
  1272.         </geometry>
  1273.       </collision>
  1274.     </link>
  1275.  
  1276.  
  1277.     <link name="ref_50_link">
  1278.       <inertial>
  1279.         <mass value="0.10000" />
  1280.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1281.         <origin xyz="0.0 0.0 0" />
  1282.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1283.       </inertial>
  1284.       <visual>
  1285.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1286.         <origin xyz="0 0 0" rpy="0 0 0" />
  1287.         <geometry>
  1288.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1289.         </geometry>
  1290.       </visual>
  1291.       <collision>
  1292.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1293.         <origin xyz="0 0 0" rpy="0 0 0" />
  1294.         <geometry>
  1295.           <box size="0 0 0"/>
  1296.         </geometry>
  1297.       </collision>
  1298.     </link>
  1299.  
  1300.  
  1301.     <link name="ref_51_link">
  1302.       <inertial>
  1303.         <mass value="0.10000" />
  1304.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1305.         <origin xyz="0.0 0.0 0" />
  1306.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1307.       </inertial>
  1308.       <visual>
  1309.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1310.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1311.         <geometry>
  1312.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1313.         </geometry>
  1314.       </visual>
  1315.       <collision>
  1316.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1317.         <origin xyz="0 0 0" rpy="0 0 0" />
  1318.         <geometry>
  1319.           <box size="0 0 0"/>
  1320.         </geometry>
  1321.       </collision>
  1322.     </link>
  1323.  
  1324.  
  1325.     <link name="ref_52_link">
  1326.       <inertial>
  1327.         <mass value="0.10000" />
  1328.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1329.         <origin xyz="0.0 0.0 0" />
  1330.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1331.       </inertial>
  1332.       <visual>
  1333.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1334.         <origin xyz="0 0 0" rpy="0 0 0" />
  1335.         <geometry>
  1336.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1337.         </geometry>
  1338.       </visual>
  1339.       <collision>
  1340.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1341.         <origin xyz="0 0 0" rpy="0 0 0" />
  1342.         <geometry>
  1343.           <box size="0 0 0"/>
  1344.         </geometry>
  1345.       </collision>
  1346.     </link>
  1347.  
  1348.  
  1349.     <link name="ref_53_link">
  1350.       <inertial>
  1351.         <mass value="0.10000" />
  1352.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1353.         <origin xyz="0.0 0.0 0" />
  1354.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1355.       </inertial>
  1356.       <visual>
  1357.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1358.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1359.         <geometry>
  1360.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1361.         </geometry>
  1362.       </visual>
  1363.       <collision>
  1364.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1365.         <origin xyz="0 0 0" rpy="0 0 0" />
  1366.         <geometry>
  1367.           <box size="0 0 0"/>
  1368.         </geometry>
  1369.       </collision>
  1370.     </link>
  1371.  
  1372.  
  1373.     <link name="ref_54_link">
  1374.       <inertial>
  1375.         <mass value="0.10000" />
  1376.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1377.         <origin xyz="0.0 0.0 0" />
  1378.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1379.       </inertial>
  1380.       <visual>
  1381.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1382.         <origin xyz="0 0 0" rpy="0 0 0" />
  1383.         <geometry>
  1384.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1385.         </geometry>
  1386.       </visual>
  1387.       <collision>
  1388.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1389.         <origin xyz="0 0 0" rpy="0 0 0" />
  1390.         <geometry>
  1391.           <box size="0 0 0"/>
  1392.         </geometry>
  1393.       </collision>
  1394.     </link>
  1395.  
  1396.  
  1397.     <link name="ref_55_link">
  1398.       <inertial>
  1399.         <mass value="0.10000" />
  1400.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1401.         <origin xyz="0.0 0.0 0" />
  1402.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1403.       </inertial>
  1404.       <visual>
  1405.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1406.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1407.         <geometry>
  1408.           <mesh filename="package://nxt_description/meshes/parts/6629.dae" scale=" 0.0004  0.0004  0.0004"/>
  1409.         </geometry>
  1410.       </visual>
  1411.       <collision>
  1412.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1413.         <origin xyz="0 0 0" rpy="0 0 0" />
  1414.         <geometry>
  1415.           <box size="0 0 0"/>
  1416.         </geometry>
  1417.       </collision>
  1418.     </link>
  1419.  
  1420.  
  1421.     <link name="ref_56_link">
  1422.       <inertial>
  1423.         <mass value="0.10000" />
  1424.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1425.         <origin xyz="0.0 0.0 0" />
  1426.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1427.       </inertial>
  1428.       <visual>
  1429.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1430.         <origin xyz="0 0 0" rpy="0 0 0" />
  1431.         <geometry>
  1432.           <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004  0.0004  0.0004"/>
  1433.         </geometry>
  1434.       </visual>
  1435.       <collision>
  1436.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1437.         <origin xyz="0 0 0" rpy="0 0 0" />
  1438.         <geometry>
  1439.           <box size="0 0 0"/>
  1440.         </geometry>
  1441.       </collision>
  1442.     </link>
  1443.  
  1444.  
  1445.     <link name="ref_57_link">
  1446.       <inertial>
  1447.         <mass value="0.10000" />
  1448.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1449.         <origin xyz="0.0 0.0 0" />
  1450.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1451.       </inertial>
  1452.       <visual>
  1453.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1454.         <origin xyz="0 0 0" rpy="0 0 0" />
  1455.         <geometry>
  1456.           <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004  0.0004  0.0004"/>
  1457.         </geometry>
  1458.       </visual>
  1459.       <collision>
  1460.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1461.         <origin xyz="0 0 0" rpy="0 0 0" />
  1462.         <geometry>
  1463.           <box size="0 0 0"/>
  1464.         </geometry>
  1465.       </collision>
  1466.     </link>
  1467.  
  1468.  
  1469.     <link name="ref_58_link">
  1470.       <inertial>
  1471.         <mass value="0.10000" />
  1472.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1473.         <origin xyz="0.0 0.0 0" />
  1474.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1475.       </inertial>
  1476.       <visual>
  1477.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1478.         <origin xyz="0 0 0" rpy="0 0 0" />
  1479.         <geometry>
  1480.           <mesh filename="package://nxt_description/meshes/parts/53787.dae" scale=" 0.0004  0.0004  0.0004"/>
  1481.         </geometry>
  1482.       </visual>
  1483.       <collision>
  1484.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1485.         <origin xyz="0 0 0" rpy="0 0 0" />
  1486.         <geometry>
  1487.           <box size="0 0 0"/>
  1488.         </geometry>
  1489.       </collision>
  1490.     </link>
  1491.  
  1492.     <link name="ref_58_link_hub">
  1493.       <inertial>
  1494.         <mass value="0.10000" />
  1495.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1496.         <origin xyz="0.0 0.0 0" />
  1497.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1498.       </inertial>
  1499.       <visual>
  1500.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1501.         <origin xyz="0 0 0" rpy="0 0 0" />
  1502.         <geometry>
  1503.           <mesh filename="package://nxt_description/meshes/parts/servo_hubs.dae" scale=" 0.0004  0.0004  0.0004"/>
  1504.         </geometry>
  1505.       </visual>
  1506.       <collision>
  1507.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1508.         <origin xyz="0 0 0" rpy="0 0 0" />
  1509.         <geometry>
  1510.           <box size="0 0 0"/>
  1511.         </geometry>
  1512.       </collision>
  1513.     </link>
  1514.  
  1515.     <!--THIS IS THE MOTOR JOINT RENAME AND FIX BY 180 WHEN NEEDED-->
  1516.     <joint name="left_wheel_joint" type="continuous">
  1517.       <parent link="ref_58_link"/>
  1518.       <child link="ref_58_link_hub"/>
  1519.       <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1520.       <axis xyz="-1 0 0" />
  1521.     </joint>
  1522.  
  1523.     <transmission type="pr2_mechanism_model/SimpleTransmission" name="left_wheel_trans">
  1524.       <actuator name="left_wheel_motor" />
  1525.       <joint name="left_wheel_joint" />
  1526.       <mechanicalReduction>1.0</mechanicalReduction>
  1527.     </transmission>
  1528.  
  1529.  
  1530.  
  1531.     <link name="ref_59_link">
  1532.       <inertial>
  1533.         <mass value="0.10000" />
  1534.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1535.         <origin xyz="0.0 0.0 0" />
  1536.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1537.       </inertial>
  1538.       <visual>
  1539.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1540.         <origin xyz="0 0 0" rpy="0 0 0" />
  1541.         <geometry>
  1542.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1543.         </geometry>
  1544.       </visual>
  1545.       <collision>
  1546.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1547.         <origin xyz="0 0 0" rpy="0 0 0" />
  1548.         <geometry>
  1549.           <box size="0 0 0"/>
  1550.         </geometry>
  1551.       </collision>
  1552.     </link>
  1553.  
  1554.  
  1555.     <link name="ref_60_link">
  1556.       <inertial>
  1557.         <mass value="0.10000" />
  1558.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1559.         <origin xyz="0.0 0.0 0" />
  1560.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1561.       </inertial>
  1562.       <visual>
  1563.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1564.         <origin xyz="0 0 0" rpy="0 0 0" />
  1565.         <geometry>
  1566.           <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale=" 0.0004  0.0004  0.0004"/>
  1567.         </geometry>
  1568.       </visual>
  1569.       <collision>
  1570.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1571.         <origin xyz="0 0 0" rpy="0 0 0" />
  1572.         <geometry>
  1573.           <box size="0 0 0"/>
  1574.         </geometry>
  1575.       </collision>
  1576.     </link>
  1577.  
  1578.  
  1579.     <link name="ref_61_link">
  1580.       <inertial>
  1581.         <mass value="0.10000" />
  1582.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1583.         <origin xyz="0.0 0.0 0" />
  1584.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1585.       </inertial>
  1586.       <visual>
  1587.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1588.         <origin xyz="0 0 0" rpy="0 0 0" />
  1589.         <geometry>
  1590.           <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale=" 0.0004  0.0004  0.0004"/>
  1591.         </geometry>
  1592.       </visual>
  1593.       <collision>
  1594.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1595.         <origin xyz="0 0 0" rpy="0 0 0" />
  1596.         <geometry>
  1597.           <box size="0 0 0"/>
  1598.         </geometry>
  1599.       </collision>
  1600.     </link>
  1601.  
  1602.  
  1603.     <link name="ref_62_link">
  1604.       <inertial>
  1605.         <mass value="0.10000" />
  1606.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1607.         <origin xyz="0.0 0.0 0" />
  1608.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1609.       </inertial>
  1610.       <visual>
  1611.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1612.         <origin xyz="0 0 0" rpy="0 0 0" />
  1613.         <geometry>
  1614.           <mesh filename="package://nxt_description/meshes/parts/56145.dae" scale=" 0.0004  0.0004  0.0004"/>
  1615.         </geometry>
  1616.       </visual>
  1617.       <collision>
  1618.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1619.         <origin xyz="0 0 0" rpy="0 0 0" />
  1620.         <geometry>
  1621.           <box size="0 0 0"/>
  1622.         </geometry>
  1623.       </collision>
  1624.     </link>
  1625.  
  1626.  
  1627.     <link name="ref_63_link">
  1628.       <inertial>
  1629.         <mass value="0.10000" />
  1630.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1631.         <origin xyz="0.0 0.0 0" />
  1632.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1633.       </inertial>
  1634.       <visual>
  1635.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1636.         <origin xyz="0 0 0" rpy="0 0 0" />
  1637.         <geometry>
  1638.           <mesh filename="package://nxt_description/meshes/parts/44309.dae" scale=" 0.0004  0.0004  0.0004"/>
  1639.         </geometry>
  1640.       </visual>
  1641.       <collision>
  1642.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1643.         <origin xyz="0 0 0" rpy="1.570795 0 0" />
  1644.         <geometry>
  1645.           <cylinder length=".02" radius="0.0215"/>
  1646.           <!-- mesh filename="package://nxt_description/meshes/parts/44309.dae" scale=" 0.0004  0.0004  0.0004"/ -->
  1647.         </geometry>
  1648.       </collision>
  1649.     </link>
  1650.  
  1651.  
  1652.     <link name="ref_64_link">
  1653.       <inertial>
  1654.         <mass value="0.10000" />
  1655.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1656.         <origin xyz="0.0 0.0 0" />
  1657.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1658.       </inertial>
  1659.       <visual>
  1660.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1661.         <origin xyz="0 0 0" rpy="0 0 0" />
  1662.         <geometry>
  1663.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1664.         </geometry>
  1665.       </visual>
  1666.       <collision>
  1667.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1668.         <origin xyz="0 0 0" rpy="0 0 0" />
  1669.         <geometry>
  1670.           <box size="0 0 0"/>
  1671.         </geometry>
  1672.       </collision>
  1673.     </link>
  1674.  
  1675.  
  1676.     <link name="ref_65_link">
  1677.       <inertial>
  1678.         <mass value="0.10000" />
  1679.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1680.         <origin xyz="0.0 0.0 0" />
  1681.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1682.       </inertial>
  1683.       <visual>
  1684.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1685.         <origin xyz="0 0 0" rpy="0 0 0" />
  1686.         <geometry>
  1687.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1688.         </geometry>
  1689.       </visual>
  1690.       <collision>
  1691.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1692.         <origin xyz="0 0 0" rpy="0 0 0" />
  1693.         <geometry>
  1694.           <box size="0 0 0"/>
  1695.         </geometry>
  1696.       </collision>
  1697.     </link>
  1698.  
  1699.  
  1700.     <link name="ref_66_link">
  1701.       <inertial>
  1702.         <mass value="0.10000" />
  1703.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1704.         <origin xyz="0.0 0.0 0" />
  1705.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1706.       </inertial>
  1707.       <visual>
  1708.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1709.         <origin xyz="0 0 0" rpy="0 0 0" />
  1710.         <geometry>
  1711.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1712.         </geometry>
  1713.       </visual>
  1714.       <collision>
  1715.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1716.         <origin xyz="0 0 0" rpy="0 0 0" />
  1717.         <geometry>
  1718.           <box size="0 0 0"/>
  1719.         </geometry>
  1720.       </collision>
  1721.     </link>
  1722.  
  1723.  
  1724.     <link name="ref_67_link">
  1725.       <inertial>
  1726.         <mass value="0.10000" />
  1727.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1728.         <origin xyz="0.0 0.0 0" />
  1729.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1730.       </inertial>
  1731.       <visual>
  1732.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1733.         <origin xyz="0 0 0" rpy="0 0 0" />
  1734.         <geometry>
  1735.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1736.         </geometry>
  1737.       </visual>
  1738.       <collision>
  1739.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1740.         <origin xyz="0 0 0" rpy="0 0 0" />
  1741.         <geometry>
  1742.           <box size="0 0 0"/>
  1743.         </geometry>
  1744.       </collision>
  1745.     </link>
  1746.  
  1747.  
  1748.     <link name="ref_68_link">
  1749.       <inertial>
  1750.         <mass value="0.10000" />
  1751.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1752.         <origin xyz="0.0 0.0 0" />
  1753.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1754.       </inertial>
  1755.       <visual>
  1756.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1757.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1758.         <geometry>
  1759.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1760.         </geometry>
  1761.       </visual>
  1762.       <collision>
  1763.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1764.         <origin xyz="0 0 0" rpy="0 0 0" />
  1765.         <geometry>
  1766.           <box size="0 0 0"/>
  1767.         </geometry>
  1768.       </collision>
  1769.     </link>
  1770.  
  1771.  
  1772.     <link name="ref_69_link">
  1773.       <inertial>
  1774.         <mass value="0.10000" />
  1775.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1776.         <origin xyz="0.0 0.0 0" />
  1777.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1778.       </inertial>
  1779.       <visual>
  1780.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1781.         <origin xyz="0 0 0" rpy="0 0 0" />
  1782.         <geometry>
  1783.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1784.         </geometry>
  1785.       </visual>
  1786.       <collision>
  1787.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1788.         <origin xyz="0 0 0" rpy="0 0 0" />
  1789.         <geometry>
  1790.           <box size="0 0 0"/>
  1791.         </geometry>
  1792.       </collision>
  1793.     </link>
  1794.  
  1795.  
  1796.     <link name="ref_70_link">
  1797.       <inertial>
  1798.         <mass value="0.10000" />
  1799.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1800.         <origin xyz="0.0 0.0 0" />
  1801.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1802.       </inertial>
  1803.       <visual>
  1804.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1805.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1806.         <geometry>
  1807.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  1808.         </geometry>
  1809.       </visual>
  1810.       <collision>
  1811.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1812.         <origin xyz="0 0 0" rpy="0 0 0" />
  1813.         <geometry>
  1814.           <box size="0 0 0"/>
  1815.         </geometry>
  1816.       </collision>
  1817.     </link>
  1818.  
  1819.  
  1820.     <link name="ref_71_link">
  1821.       <inertial>
  1822.         <mass value="0.10000" />
  1823.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1824.         <origin xyz="0.0 0.0 0" />
  1825.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1826.       </inertial>
  1827.       <visual>
  1828.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1829.         <origin xyz="0 0 0" rpy="0 0 0" />
  1830.         <geometry>
  1831.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  1832.         </geometry>
  1833.       </visual>
  1834.       <collision>
  1835.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1836.         <origin xyz="0 0 0" rpy="0 0 0" />
  1837.         <geometry>
  1838.           <box size="0 0 0"/>
  1839.         </geometry>
  1840.       </collision>
  1841.     </link>
  1842.  
  1843.  
  1844.     <link name="ref_72_link">
  1845.       <inertial>
  1846.         <mass value="0.10000" />
  1847.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1848.         <origin xyz="0.0 0.0 0" />
  1849.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1850.       </inertial>
  1851.       <visual>
  1852.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1853.         <origin xyz="0 0 0" rpy="0 0 0" />
  1854.         <geometry>
  1855.           <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale=" 0.0004  0.0004  0.0004"/>
  1856.         </geometry>
  1857.       </visual>
  1858.       <collision>
  1859.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1860.         <origin xyz="0 0 0" rpy="0 0 0" />
  1861.         <geometry>
  1862.           <box size="0 0 0"/>
  1863.         </geometry>
  1864.       </collision>
  1865.     </link>
  1866.  
  1867.  
  1868.     <link name="ref_73_link">
  1869.       <inertial>
  1870.         <mass value="0.10000" />
  1871.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1872.         <origin xyz="0.0 0.0 0" />
  1873.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1874.       </inertial>
  1875.       <visual>
  1876.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1877.         <origin xyz="0 0 0" rpy="0 0 0" />
  1878.         <geometry>
  1879.           <mesh filename="package://nxt_description/meshes/parts/56145.dae" scale=" 0.0004  0.0004  0.0004"/>
  1880.         </geometry>
  1881.       </visual>
  1882.       <collision>
  1883.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1884.         <origin xyz="0 0 0" rpy="0 0 0" />
  1885.         <geometry>
  1886.           <box size="0 0 0"/>
  1887.         </geometry>
  1888.       </collision>
  1889.     </link>
  1890.  
  1891.  
  1892.     <link name="ref_74_link">
  1893.       <inertial>
  1894.         <mass value="0.10000" />
  1895.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1896.         <origin xyz="0.0 0.0 0" />
  1897.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1898.       </inertial>
  1899.       <visual>
  1900.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1901.         <origin xyz="0 0 0" rpy="0 0 0" />
  1902.         <geometry>
  1903.           <mesh filename="package://nxt_description/meshes/parts/44309.dae" scale=" 0.0004  0.0004  0.0004"/>
  1904.         </geometry>
  1905.       </visual>
  1906.       <collision>
  1907.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1908.         <origin xyz="0 0 0" rpy="1.570795 0 0" />
  1909.         <geometry>
  1910.           <cylinder length=".02" radius="0.0215"/>
  1911.           <!-- mesh filename="package://nxt_description/meshes/parts/44309.dae" scale=" 0.0004  0.0004  0.0004"/ -->
  1912.         </geometry>
  1913.       </collision>
  1914.     </link>
  1915.  
  1916.  
  1917.     <link name="ref_75_link">
  1918.       <inertial>
  1919.         <mass value="0.10000" />
  1920.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1921.         <origin xyz="0.0 0.0 0" />
  1922.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1923.       </inertial>
  1924.       <visual>
  1925.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1926.         <origin xyz="0 0 0" rpy="0 0 0" />
  1927.         <geometry>
  1928.           <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale=" 0.0004  0.0004  0.0004"/>
  1929.         </geometry>
  1930.       </visual>
  1931.       <collision>
  1932.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1933.         <origin xyz="0 0 0" rpy="0 0 0" />
  1934.         <geometry>
  1935.           <box size="0 0 0"/>
  1936.         </geometry>
  1937.       </collision>
  1938.     </link>
  1939.  
  1940.  
  1941.     <link name="ref_76_link">
  1942.       <inertial>
  1943.         <mass value="0.10000" />
  1944.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1945.         <origin xyz="0.0 0.0 0" />
  1946.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1947.       </inertial>
  1948.       <visual>
  1949.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1950.         <origin xyz="0 0 0" rpy="0 0 0" />
  1951.         <geometry>
  1952.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1953.         </geometry>
  1954.       </visual>
  1955.       <collision>
  1956.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1957.         <origin xyz="0 0 0" rpy="0 0 0" />
  1958.         <geometry>
  1959.           <box size="0 0 0"/>
  1960.         </geometry>
  1961.       </collision>
  1962.     </link>
  1963.  
  1964.  
  1965.     <link name="ref_77_link">
  1966.       <inertial>
  1967.         <mass value="0.10000" />
  1968.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1969.         <origin xyz="0.0 0.0 0" />
  1970.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1971.       </inertial>
  1972.       <visual>
  1973.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1974.         <origin xyz="0 0 0" rpy="0 0 0" />
  1975.         <geometry>
  1976.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  1977.         </geometry>
  1978.       </visual>
  1979.       <collision>
  1980.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  1981.         <origin xyz="0 0 0" rpy="0 0 0" />
  1982.         <geometry>
  1983.           <box size="0 0 0"/>
  1984.         </geometry>
  1985.       </collision>
  1986.     </link>
  1987.  
  1988.  
  1989.     <link name="ref_78_link">
  1990.       <inertial>
  1991.         <mass value="0.10000" />
  1992.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1993.         <origin xyz="0.0 0.0 0" />
  1994.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  1995.       </inertial>
  1996.       <visual>
  1997.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  1998.         <origin xyz="0 0 0" rpy="0 0 0" />
  1999.         <geometry>
  2000.           <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004  0.0004  0.0004"/>
  2001.         </geometry>
  2002.       </visual>
  2003.       <collision>
  2004.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2005.         <origin xyz="0 0 0" rpy="0 0 0" />
  2006.         <geometry>
  2007.           <box size="0 0 0"/>
  2008.         </geometry>
  2009.       </collision>
  2010.     </link>
  2011.  
  2012.  
  2013.     <link name="ref_79_link">
  2014.       <inertial>
  2015.         <mass value="0.10000" />
  2016.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2017.         <origin xyz="0.0 0.0 0" />
  2018.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2019.       </inertial>
  2020.       <visual>
  2021.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2022.         <origin xyz="0 0 0" rpy="0 0 0" />
  2023.         <geometry>
  2024.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  2025.         </geometry>
  2026.       </visual>
  2027.       <collision>
  2028.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2029.         <origin xyz="0 0 0" rpy="0 0 0" />
  2030.         <geometry>
  2031.           <box size="0 0 0"/>
  2032.         </geometry>
  2033.       </collision>
  2034.     </link>
  2035.  
  2036.  
  2037.     <link name="ref_80_link">
  2038.       <inertial>
  2039.         <mass value="0.10000" />
  2040.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2041.         <origin xyz="0.0 0.0 0" />
  2042.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2043.       </inertial>
  2044.       <visual>
  2045.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2046.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  2047.         <geometry>
  2048.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  2049.         </geometry>
  2050.       </visual>
  2051.       <collision>
  2052.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2053.         <origin xyz="0 0 0" rpy="0 0 0" />
  2054.         <geometry>
  2055.           <box size="0 0 0"/>
  2056.         </geometry>
  2057.       </collision>
  2058.     </link>
  2059.  
  2060.  
  2061.     <link name="ref_81_link">
  2062.       <inertial>
  2063.         <mass value="0.10000" />
  2064.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2065.         <origin xyz="0.0 0.0 0" />
  2066.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2067.       </inertial>
  2068.       <visual>
  2069.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2070.         <origin xyz="0 0 0" rpy="0 0 0" />
  2071.         <geometry>
  2072.           <mesh filename="package://nxt_description/meshes/parts/4519.dae" scale=" 0.0004  0.0004  0.0004"/>
  2073.         </geometry>
  2074.       </visual>
  2075.       <collision>
  2076.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2077.         <origin xyz="0 0 0" rpy="0 0 0" />
  2078.         <geometry>
  2079.           <box size="0 0 0"/>
  2080.         </geometry>
  2081.       </collision>
  2082.     </link>
  2083.  
  2084.  
  2085.     <link name="ref_82_link">
  2086.       <inertial>
  2087.         <mass value="0.10000" />
  2088.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2089.         <origin xyz="0.0 0.0 0" />
  2090.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2091.       </inertial>
  2092.       <visual>
  2093.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2094.         <origin xyz="0 0 0" rpy="0 3.14159 0" />
  2095.         <geometry>
  2096.           <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004  0.0004  0.0004"/>
  2097.         </geometry>
  2098.       </visual>
  2099.       <collision>
  2100.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2101.         <origin xyz="0 0 0" rpy="0 0 0" />
  2102.         <geometry>
  2103.           <box size="0 0 0"/>
  2104.         </geometry>
  2105.       </collision>
  2106.     </link>
  2107.  
  2108.  
  2109.     <link name="ref_83_link">
  2110.       <inertial>
  2111.         <mass value="0.10000" />
  2112.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2113.         <origin xyz="0.0 0.0 0" />
  2114.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2115.       </inertial>
  2116.       <visual>
  2117.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2118.         <origin xyz="0 0 0" rpy="0 0 0" />
  2119.         <geometry>
  2120.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  2121.         </geometry>
  2122.       </visual>
  2123.       <collision>
  2124.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2125.         <origin xyz="0 0 0" rpy="0 0 0" />
  2126.         <geometry>
  2127.           <box size="0 0 0"/>
  2128.         </geometry>
  2129.       </collision>
  2130.     </link>
  2131.  
  2132.  
  2133.     <link name="ref_84_link">
  2134.       <inertial>
  2135.         <mass value="0.10000" />
  2136.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2137.         <origin xyz="0.0 0.0 0" />
  2138.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2139.       </inertial>
  2140.       <visual>
  2141.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2142.         <origin xyz="0 0 0" rpy="0 0 0" />
  2143.         <geometry>
  2144.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  2145.         </geometry>
  2146.       </visual>
  2147.       <collision>
  2148.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2149.         <origin xyz="0 0 0" rpy="0 0 0" />
  2150.         <geometry>
  2151.           <box size="0 0 0"/>
  2152.         </geometry>
  2153.       </collision>
  2154.     </link>
  2155.  
  2156.  
  2157.     <link name="ref_85_link">
  2158.       <inertial>
  2159.         <mass value="0.10000" />
  2160.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2161.         <origin xyz="0.0 0.0 0" />
  2162.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2163.       </inertial>
  2164.       <visual>
  2165.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2166.         <origin xyz="0 0 0" rpy="0 0 0" />
  2167.         <geometry>
  2168.           <mesh filename="package://nxt_description/meshes/parts/40490.dae" scale=" 0.0004  0.0004  0.0004"/>
  2169.         </geometry>
  2170.       </visual>
  2171.       <collision>
  2172.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2173.         <origin xyz="0 0 0" rpy="0 0 0" />
  2174.         <geometry>
  2175.           <box size="0 0 0"/>
  2176.         </geometry>
  2177.       </collision>
  2178.     </link>
  2179.  
  2180.  
  2181.     <link name="ref_86_link">
  2182.       <inertial>
  2183.         <mass value="0.10000" />
  2184.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2185.         <origin xyz="0.0 0.0 0" />
  2186.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2187.       </inertial>
  2188.       <visual>
  2189.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2190.         <origin xyz="0 0 0" rpy="0 0 0" />
  2191.         <geometry>
  2192.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  2193.         </geometry>
  2194.       </visual>
  2195.       <collision>
  2196.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2197.         <origin xyz="0 0 0" rpy="0 0 0" />
  2198.         <geometry>
  2199.           <box size="0 0 0"/>
  2200.         </geometry>
  2201.       </collision>
  2202.     </link>
  2203.  
  2204.  
  2205.     <link name="ref_87_link">
  2206.       <inertial>
  2207.         <mass value="0.10000" />
  2208.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2209.         <origin xyz="0.0 0.0 0" />
  2210.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2211.       </inertial>
  2212.       <visual>
  2213.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2214.         <origin xyz="0 0 0" rpy="0 0 0" />
  2215.         <geometry>
  2216.           <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004  0.0004  0.0004"/>
  2217.         </geometry>
  2218.       </visual>
  2219.       <collision>
  2220.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2221.         <origin xyz="0 0 0" rpy="0 0 0" />
  2222.         <geometry>
  2223.           <box size="0 0 0"/>
  2224.         </geometry>
  2225.       </collision>
  2226.     </link>
  2227.  
  2228.  
  2229.     <link name="ref_88_link">
  2230.       <inertial>
  2231.         <mass value="0.10000" />
  2232.         <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2233.         <origin xyz="0.0 0.0 0" />
  2234.         <inertia  ixx="0.01" ixy="0.0"  ixz="0.0"  iyy="0.01"  iyz="0.0"  izz="0.01" />
  2235.       </inertial>
  2236.       <visual>
  2237.         <!-- visual origin is defined w.r.t. link local coordinate system -->
  2238.         <origin xyz="0 0 0" rpy="0 0 0" />
  2239.         <geometry>
  2240.           <mesh filename="package://nxt_description/meshes/parts/40490.dae" scale=" 0.0004  0.0004  0.0004"/>
  2241.         </geometry>
  2242.       </visual>
  2243.       <collision>
  2244.         <!-- collision origin is defined w.r.t. link local coordinate system -->
  2245.         <origin xyz="0 0 0" rpy="0 0 0" />
  2246.         <geometry>
  2247.           <box size="0 0 0"/>
  2248.         </geometry>
  2249.       </collision>
  2250.     </link>
  2251.  
  2252.  
  2253.     <joint name="ref_0_joint" type="fixed">
  2254.       <parent link="ref_0_link"/>
  2255.       <child link="ref_1_link"/>
  2256.       <origin xyz="1.63269042969e-07 -0.00819995422363 -0.0238001464844" rpy="1.57079632679 -0.0 -1.57079632679" />
  2257.       <axis xyz="0 0 0" />
  2258.     </joint>
  2259.  
  2260.  
  2261.     <joint name="ref_1_joint" type="fixed">
  2262.       <parent link="ref_1_link"/>
  2263.       <child link="ref_2_link"/>
  2264.       <origin xyz="-0.000199963355069 0.0238001741648 1.72424295852e-07" rpy="-1.57079632679 1.57079632679 -0.0" />
  2265.       <axis xyz="0 0 0" />
  2266.     </joint>
  2267.  
  2268.  
  2269.     <joint name="ref_2_joint" type="fixed">
  2270.       <parent link="ref_2_link"/>
  2271.       <child link="ref_3_link"/>
  2272.       <origin xyz="1.35803222656e-07 0.0762002075195 -0.0118024108887" rpy="2.56617217953 1.57077648957 0.994078913433" />
  2273.       <axis xyz="0 0 0" />
  2274.     </joint>
  2275.  
  2276.  
  2277.     <joint name="ref_3_joint" type="fixed">
  2278.       <parent link="ref_2_link"/>
  2279.       <child link="ref_4_link"/>
  2280.       <origin xyz="2.82287597656e-07 0.0762003540039 -0.0238024047852" rpy="1.57079632679 -1.13256307865e-05 -0.0" />
  2281.       <axis xyz="0 0 0" />
  2282.     </joint>
  2283.  
  2284.  
  2285.     <joint name="ref_4_joint" type="fixed">
  2286.       <parent link="ref_2_link"/>
  2287.       <child link="ref_5_link"/>
  2288.       <origin xyz="1.06811523438e-07 0.0758001831055 -0.00780240478516" rpy="1.57078624575 1.1010007255e-05 -3.14158176733" />
  2289.       <axis xyz="0 0 0" />
  2290.     </joint>
  2291.  
  2292.  
  2293.     <joint name="ref_5_joint" type="fixed">
  2294.       <parent link="ref_2_link"/>
  2295.       <child link="ref_6_link"/>
  2296.       <origin xyz="2.13623046875e-08 0.0759999633789 0.000197589111328" rpy="-1.57080748776 -0.0 -3.14159265359" />
  2297.       <axis xyz="0 0 0" />
  2298.     </joint>
  2299.  
  2300.  
  2301.     <joint name="ref_6_joint" type="fixed">
  2302.       <parent link="ref_2_link"/>
  2303.       <child link="ref_7_link"/>
  2304.       <origin xyz="0.00800002441406 0.039999987793 -1.05590820312e-06" rpy="1.57079632679 1.57075457489 -1.57079632679" />
  2305.       <axis xyz="0 0 0" />
  2306.     </joint>
  2307.  
  2308.  
  2309.     <joint name="ref_7_joint" type="fixed">
  2310.       <parent link="ref_2_link"/>
  2311.       <child link="ref_8_link"/>
  2312.       <origin xyz="-0.00799996032715 0.04 -2.25830078125e-07" rpy="3.14159265359 1.57079632679 -0.0" />
  2313.       <axis xyz="0 0 0" />
  2314.     </joint>
  2315.  
  2316.  
  2317.     <joint name="ref_8_joint" type="fixed">
  2318.       <parent link="ref_12_link"/>
  2319.       <child link="ref_9_link"/>
  2320.       <origin xyz="7.828350350163135e-05 0.007999992248306359 -0.01599574888085893" rpy="1.5707963267992335 -0.016041211646452877 -2.019495777038321e-07" />
  2321.       <axis xyz="0 0 0" />
  2322.     </joint>
  2323.  
  2324.  
  2325.     <joint name="ref_9_joint" type="fixed">
  2326.       <parent link="ref_12_link"/>
  2327.       <child link="ref_10_link"/>
  2328.       <origin xyz="-0.019773283015216105 0.011200000837567045 0.021970711426472916" rpy="0.9433347502433465 -1.6022588811281935e-10 -1.5707857975195862" />
  2329.       <axis xyz="0 0 0" />
  2330.     </joint>
  2331.  
  2332.  
  2333.     <joint name="ref_10_joint" type="fixed">
  2334.       <parent link="ref_12_link"/>
  2335.       <child link="ref_11_link"/>
  2336.       <origin xyz="-0.02628444588433196 0.016399937195003385 0.02695496452268098" rpy="-1.5707963270591478 -0.9290985650975533 1.0616525449825763e-05" />
  2337.       <axis xyz="0 0 0" />
  2338.     </joint>
  2339.  
  2340.  
  2341.     <joint name="caster_wheel_support_joint" type="continuous">
  2342.       <parent link="ref_3_link"/>
  2343.       <child link="ref_12_link"/>
  2344.       <origin xyz="0.00374998598337 -25.46744743986e-09 0.00820001255175" rpy="3.14159265359 1.74727644705e-06 3.14159245339" />
  2345.       <axis xyz="1 0 0" />
  2346.     </joint>
  2347.    
  2348.     <transmission type="pr2_mechanism_model/SimpleTransmission" name="caster_wheel_support_trans">
  2349.       <actuator name="caster_wheel_support_motor" />
  2350.       <joint name="caster_wheel_support_joint" />
  2351.       <mechanicalReduction>1.0</mechanicalReduction>
  2352.     </transmission>
  2353.  
  2354.  
  2355.     <joint name="ref_12_joint" type="fixed">
  2356.       <parent link="ref_12_link"/>
  2357.       <child link="ref_13_link"/>
  2358.       <origin xyz="7.829938401379206e-05 -0.00800001347353713 -0.015995748880583402" rpy="1.5707963267992342 -0.016041213508852844 -2.0193957728630123e-07" />
  2359.       <axis xyz="0 0 0" />
  2360.     </joint>
  2361.  
  2362.  
  2363.     <joint name="ref_13_joint" type="fixed">
  2364.       <parent link="ref_12_link"/>
  2365.       <child link="ref_14_link"/>
  2366.       <origin xyz="-0.01977346292677751 -0.011999997161597383 0.02197046728329209" rpy="-0.941811082803346 -1.728376066570402e-05 1.570806856319801" />
  2367.       <axis xyz="0 0 0" />
  2368.     </joint>
  2369.  
  2370.  
  2371.     <joint name="ref_14_joint" type="fixed">
  2372.       <parent link="ref_12_link"/>
  2373.       <child link="ref_15_link"/>
  2374.       <origin xyz="-0.026286521322119564 -0.017200052622681747 0.0269564659566143" rpy="-1.5707963270686134 -0.9418140056795524 1.0616524787663322e-05" />
  2375.       <axis xyz="0 0 0" />
  2376.     </joint>
  2377.  
  2378.  
  2379.     <joint name="ref_15_joint" type="fixed">
  2380.       <parent link="ref_12_link"/>
  2381.       <child link="ref_16_link"/>
  2382.       <origin xyz="-0.026243944356444993 -0.007999989275855626 0.026675070139318233" rpy="2.6220488780330158e-05 -0.9290942257425536 -1.735704872123971e-05" />
  2383.       <axis xyz="0 0 0" />
  2384.     </joint>
  2385.  
  2386.  
  2387.     <joint name="ref_16_joint" type="fixed">
  2388.       <parent link="ref_12_link"/>
  2389.       <child link="ref_17_link"/>
  2390.       <origin xyz="-0.026243932522783314 0.001600015683362162 0.026675094553595582" rpy="0.9290945321833465 -1.6022594362397058e-10 -1.5707857975195865" />
  2391.       <axis xyz="0 0 0" />
  2392.     </joint>
  2393.  
  2394.  
  2395.     <joint name="ref_17_joint" type="fixed">
  2396.       <parent link="ref_12_link"/>
  2397.       <child link="ref_18_link"/>
  2398.       <origin xyz="-0.0262439228843456 0.008800011773380374 0.026675094553677253" rpy="2.615907860083846e-05 -0.9290937131215536 -1.7418418577385377e-05" />
  2399.       <axis xyz="0 0 0" />
  2400.     </joint>
  2401.  
  2402.  
  2403.     <joint name="caster_wheel_joint" type="continuous">
  2404.       <parent link="ref_17_link"/>
  2405.       <child link="caster_wheel_link"/>
  2406.       <origin xyz="0.0016000165885911716 0.00010165476252702033 6.535601406038039e-07" rpy="-2.449351583277901e-06 5.070225466826798e-06 -1.5708138408730377" />
  2407.       <axis xyz="0 -1 0" />
  2408.     </joint>
  2409.    
  2410.     <transmission type="pr2_mechanism_model/SimpleTransmission" name="caster_wheel_trans">
  2411.       <actuator name="caster_wheel_motor" />
  2412.       <joint name="caster_wheel_joint" />
  2413.       <mechanicalReduction>1.0</mechanicalReduction>
  2414.     </transmission>
  2415.  
  2416.  
  2417.     <joint name="ref_19_joint" type="fixed">
  2418.       <parent link="ref_3_link"/>
  2419.       <child link="ref_20_link"/>
  2420.       <origin xyz="-0.0118030471135 1.78073329351e-08 0.052199998924" rpy="-1.57081295549 -1.78417115258e-10 1.57078559732" />
  2421.       <axis xyz="0 0 0" />
  2422.     </joint>
  2423.  
  2424.  
  2425.     <joint name="ref_20_joint" type="fixed">
  2426.       <parent link="ref_3_link"/>
  2427.       <child link="ref_21_link"/>
  2428.       <origin xyz="-0.0118030532172 2.23850351318e-08 0.0522000111309" rpy="-3.14158192412 1.57077978538 -1.0816749256e-05" />
  2429.       <axis xyz="0 0 0" />
  2430.     </joint>
  2431.  
  2432.  
  2433.     <joint name="ref_21_joint" type="fixed">
  2434.       <parent link="ref_3_link"/>
  2435.       <child link="ref_22_link"/>
  2436.       <origin xyz="-0.00400337113741 -0.0160000524454 0.0521295048515" rpy="-1.57081295549 -1.78417115258e-10 1.57078559732" />
  2437.       <axis xyz="0 0 0" />
  2438.     </joint>
  2439.  
  2440.  
  2441.     <joint name="ref_22_joint" type="fixed">
  2442.       <parent link="ref_3_link"/>
  2443.       <child link="ref_23_link"/>
  2444.       <origin xyz="-0.00400303389778 0.0159999559433 0.0521295048572" rpy="-1.57081295549 -1.78417115258e-10 1.57078559732" />
  2445.       <axis xyz="0 0 0" />
  2446.     </joint>
  2447.  
  2448.  
  2449.     <joint name="ref_23_joint" type="fixed">
  2450.       <parent link="ref_20_link"/>
  2451.       <child link="ref_24_link"/>
  2452.       <origin xyz="0.0160000305176 0.00807067871094 -0.00799987182617" rpy="-0.0 -0.0 -1.57079632679" />
  2453.       <axis xyz="0 0 0" />
  2454.     </joint>
  2455.  
  2456.  
  2457.     <joint name="ref_24_joint" type="fixed">
  2458.       <parent link="ref_24_link"/>
  2459.       <child link="ref_25_link"/>
  2460.       <origin xyz="5.4931640625e-08 -0.000200152587891 0.00820003100634" rpy="-1.57079632679 -0.0 -1.57079632679" />
  2461.       <axis xyz="0 0 0" />
  2462.     </joint>
  2463.  
  2464.  
  2465.     <joint name="ref_25_joint" type="fixed">
  2466.       <parent link="ref_25_link"/>
  2467.       <child link="ref_26_link"/>
  2468.       <origin xyz="-0.0162005126953 0.0321997733832 0.00799990139009" rpy="1.57080961926 -1.57079632679 -0.0" />
  2469.       <axis xyz="0 0 0" />
  2470.     </joint>
  2471.  
  2472.  
  2473.     <joint name="ref_26_joint" type="fixed">
  2474.       <parent link="ref_26_link"/>
  2475.       <child link="ref_27_link"/>
  2476.       <origin xyz="-3.662109375e-08 -0.0320000457698 4.92498194592e-07" rpy="-1.57079632679 1.57078303433 -1.57079632679" />
  2477.       <axis xyz="0 0 0" />
  2478.     </joint>
  2479.  
  2480.  
  2481.     <joint name="ref_27_joint" type="fixed">
  2482.       <parent link="ref_27_link"/>
  2483.       <child link="ref_28_link"/>
  2484.       <origin xyz="3.81469681088e-07 -0.0320000221252 -0.0039997675896" rpy="3.1415822842 1.57079632679 -0.0" />
  2485.       <axis xyz="0 0 0" />
  2486.     </joint>
  2487.  
  2488.  
  2489.     <joint name="ref_28_joint" type="fixed">
  2490.       <parent link="ref_28_link"/>
  2491.       <child link="ref_29_link"/>
  2492.       <origin xyz="0.00399999389648 -0.0162000273831 0.0321999601894" rpy="-1.57079632679 2.88219179572e-07 -1.57079632679" />
  2493.       <axis xyz="0 0 0" />
  2494.     </joint>
  2495.  
  2496.  
  2497.     <joint name="ref_29_joint" type="fixed">
  2498.       <parent link="ref_29_link"/>
  2499.       <child link="ref_30_link"/>
  2500.       <origin xyz="-0.000200082868306 0.00820000408645 4.2724609375e-08" rpy="1.57078624562 1.57079632679 -0.0" />
  2501.       <axis xyz="0 0 0" />
  2502.     </joint>
  2503.  
  2504.  
  2505.     <joint name="ref_30_joint" type="fixed">
  2506.       <parent link="ref_30_link"/>
  2507.       <child link="ref_31_link"/>
  2508.       <origin xyz="-0.00800045776367 0.0 0.0084499394685" rpy="-0.0 -0.0 1.57079632679" />
  2509.       <axis xyz="0 0 0" />
  2510.     </joint>
  2511.  
  2512.  
  2513.     <joint name="ref_31_joint" type="fixed">
  2514.       <parent link="ref_30_link"/>
  2515.       <child link="ref_32_link"/>
  2516.       <origin xyz="-0.00792937011719 0.015999987793 0.00799981126784" rpy="-0.0 -0.0 1.57079632679" />
  2517.       <axis xyz="0 0 0" />
  2518.     </joint>
  2519.  
  2520.  
  2521.     <joint name="ref_32_joint" type="fixed">
  2522.       <parent link="ref_30_link"/>
  2523.       <child link="ref_33_link"/>
  2524.       <origin xyz="-0.0079294128418 0.0159999908447 0.00799978685378" rpy="-0.0 -0.0 -3.14159265359" />
  2525.       <axis xyz="0 0 0" />
  2526.     </joint>
  2527.  
  2528.  
  2529.     <joint name="ref_33_joint" type="fixed">
  2530.       <parent link="ref_30_link"/>
  2531.       <child link="ref_34_link"/>
  2532.       <origin xyz="-0.00800055541992 0.0319999969482 0.00844989064037" rpy="-0.0 -0.0 1.57079632679" />
  2533.       <axis xyz="0 0 0" />
  2534.     </joint>
  2535.  
  2536.  
  2537.     <joint name="ref_34_joint" type="fixed">
  2538.       <parent link="ref_29_link"/>
  2539.       <child link="ref_35_link"/>
  2540.       <origin xyz="-0.000200025464902 0.0162000101905 -0.00399995117188" rpy="1.57079627251 -1.57079632679 -0.0" />
  2541.       <axis xyz="0 0 0" />
  2542.     </joint>
  2543.  
  2544.  
  2545.     <joint name="ref_35_joint" type="fixed">
  2546.       <parent link="ref_29_link"/>
  2547.       <child link="ref_36_link"/>
  2548.       <origin xyz="-0.008199993415 0.0322000455083 -0.00799998779297" rpy="1.57078624562 1.57079632679 -0.0" />
  2549.       <axis xyz="0 0 0" />
  2550.     </joint>
  2551.  
  2552.  
  2553.     <joint name="ref_36_joint" type="fixed">
  2554.       <parent link="ref_36_link"/>
  2555.       <child link="ref_37_link"/>
  2556.       <origin xyz="0.0879999206543 -0.00800107192993 0.000200061047081" rpy="-3.14159265359 1.53965438647e-05 1.57078588092" />
  2557.       <axis xyz="0 0 0" />
  2558.     </joint>
  2559.  
  2560.  
  2561.     <joint name="ref_37_joint" type="fixed">
  2562.       <parent link="ref_36_link"/>
  2563.       <child link="ref_38_link"/>
  2564.       <origin xyz="0.0799999633789 -0.012000756073 0.0159998971939" rpy="-0.0 -0.0 1.57079632679" />
  2565.       <axis xyz="0 0 0" />
  2566.     </joint>
  2567.  
  2568.  
  2569.     <joint name="ref_38_joint" type="fixed">
  2570.       <parent link="ref_36_link"/>
  2571.       <child link="ref_39_link"/>
  2572.       <origin xyz="0.0317944290161 -0.0159997779846 0.0479908903117" rpy="-1.5707765211 0.645743883264 -3.14159265359" />
  2573.       <axis xyz="0 0 0" />
  2574.     </joint>
  2575.  
  2576.  
  2577.     <joint name="ref_39_joint" type="fixed">
  2578.       <parent link="ref_36_link"/>
  2579.       <child link="ref_40_link"/>
  2580.       <origin xyz="0.0320746704102 -0.0199997795105 0.0479514554948" rpy="0.645744701081 -0.0 -1.57079632679" />
  2581.       <axis xyz="0 0 0" />
  2582.     </joint>
  2583.  
  2584.  
  2585.     <joint name="ref_40_joint" type="fixed">
  2586.       <parent link="ref_37_link"/>
  2587.       <child link="ref_86_link"/>
  2588.       <origin xyz="0.0159999791856 -0.064000075581 0.00819996727868" rpy="-3.14159265343 -1.47538228815e-07 3.14158220772" />
  2589.       <axis xyz="0 0 0" />
  2590.     </joint>
  2591.  
  2592.  
  2593.     <joint name="ref_41_joint" type="fixed">
  2594.       <parent link="ref_86_link"/>
  2595.       <child link="ref_80_link"/>
  2596.       <origin xyz="-0.00799979240847 -0.000200119018555 0.0322002379557" rpy="-1.5708115758 -0.0 -1.57079632679" />
  2597.       <axis xyz="0 0 0" />
  2598.     </joint>
  2599.  
  2600.  
  2601.     <joint name="ref_42_joint" type="fixed">
  2602.       <parent link="ref_80_link"/>
  2603.       <child link="ref_79_link"/>
  2604.       <origin xyz="-0.000270645109338 0.000200073218337 -0.00799995098115" rpy="1.57079632679 -1.57079632679 -0.0" />
  2605.       <axis xyz="0 0 0" />
  2606.     </joint>
  2607.  
  2608.  
  2609.     <joint name="ref_43_joint" type="fixed">
  2610.       <parent link="ref_79_link"/>
  2611.       <child link="ref_82_link"/>
  2612.       <origin xyz="-0.00799999389648 -0.000199884033203 0.000200073242188" rpy="-1.57080997953 -0.0 -1.57079632679" />
  2613.       <axis xyz="0 0 0" />
  2614.     </joint>
  2615.  
  2616.  
  2617.     <joint name="ref_44_joint" type="fixed">
  2618.       <parent link="ref_82_link"/>
  2619.       <child link="ref_81_link"/>
  2620.       <origin xyz="-0.000234326171875 0.00820007388318 0.0080000285206" rpy="-3.14159265359 1.57078267406 1.57079632679" />
  2621.       <axis xyz="0 0 0" />
  2622.     </joint>
  2623.  
  2624.  
  2625.     <joint name="ref_45_joint" type="fixed">
  2626.       <parent link="ref_82_link"/>
  2627.       <child link="ref_84_link"/>
  2628.       <origin xyz="-0.00812908935547 0.0322000054624 -0.00800002079704" rpy="-3.14159265359 1.57078267406 1.57079632679" />
  2629.       <axis xyz="0 0 0" />
  2630.     </joint>
  2631.  
  2632.  
  2633.     <joint name="ref_46_joint" type="fixed">
  2634.       <parent link="ref_84_link"/>
  2635.       <child link="ref_55_link"/>
  2636.       <origin xyz="0.0239994293213 0.000205404663086 0.0559909912109" rpy="-1.57079632679 0.645750255898 1.57079632679" />
  2637.       <axis xyz="0 0 0" />
  2638.     </joint>
  2639.  
  2640.  
  2641.     <joint name="ref_47_joint" type="fixed">
  2642.       <parent link="ref_84_link"/>
  2643.       <child link="ref_56_link"/>
  2644.       <origin xyz="0.0199997039795 -0.0480001373291 0.0239999389648" rpy="-0.0 1.16712662924e-05 -3.14159265359" />
  2645.       <axis xyz="0 0 0" />
  2646.     </joint>
  2647.  
  2648.  
  2649.     <joint name="ref_48_joint" type="fixed">
  2650.       <parent link="ref_84_link"/>
  2651.       <child link="ref_57_link"/>
  2652.       <origin xyz="0.0279994354248 -7.46917724609e-05 0.055951550293" rpy="-0.64574372354 -0.0 -0.0" />
  2653.       <axis xyz="0 0 0" />
  2654.     </joint>
  2655.  
  2656.  
  2657.     <joint name="ref_49_joint" type="fixed">
  2658.       <parent link="ref_84_link"/>
  2659.       <child link="ref_58_link"/>
  2660.       <origin xyz="0.0160000396729 -0.056 0.00820018310547" rpy="-3.14159265359 -1.19016694947e-05 -0.0" />
  2661.       <axis xyz="0 0 0" />
  2662.     </joint>
  2663.  
  2664.  
  2665.     <joint name="ref_50_joint" type="fixed">
  2666.       <parent link="ref_55_link"/>
  2667.       <child link="ref_49_link"/>
  2668.       <origin xyz="-0.0321207294213 -0.0162226647643 -0.00800070095054" rpy="-0.0 -0.0 -1.5618187294" />
  2669.       <axis xyz="0 0 0" />
  2670.     </joint>
  2671.  
  2672.  
  2673.     <joint name="ref_51_joint" type="fixed">
  2674.       <parent link="ref_49_link"/>
  2675.       <child link="ref_48_link"/>
  2676.       <origin xyz="-0.000197813530455 0.000199982612403 0.00799999904633" rpy="1.55989796654 -1.57079632679 -0.0" />
  2677.       <axis xyz="0 0 0" />
  2678.     </joint>
  2679.  
  2680.  
  2681.     <joint name="ref_52_joint" type="fixed">
  2682.       <parent link="ref_48_link"/>
  2683.       <child link="ref_47_link"/>
  2684.       <origin xyz="0.0399999710083 -0.0160599979793 -0.0356678243088" rpy="8.34504132549e-08 -0.0 -3.14159265359" />
  2685.       <axis xyz="0 0 0" />
  2686.     </joint>
  2687.  
  2688.  
  2689.     <joint name="ref_53_joint" type="fixed">
  2690.       <parent link="ref_47_link"/>
  2691.       <child link="ref_46_link"/>
  2692.       <origin xyz="-0.040000012207 -0.0322199594552 0.0357477529354" rpy="-0.926967010974 -0.0 -0.0" />
  2693.       <axis xyz="0 0 0" />
  2694.     </joint>
  2695.  
  2696.  
  2697.     <joint name="ref_54_joint" type="fixed">
  2698.       <parent link="ref_46_link"/>
  2699.       <child link="ref_45_link"/>
  2700.       <origin xyz="-0.00800017242432 0.0205206375122 -0.025558807373" rpy="1.57079632679 0.917467732414 -1.57079632679" />
  2701.       <axis xyz="0 0 0" />
  2702.     </joint>
  2703.  
  2704.  
  2705.     <joint name="ref_55_joint" type="fixed">
  2706.       <parent link="ref_45_link"/>
  2707.       <child link="ref_44_link"/>
  2708.       <origin xyz="-4.11856549127e-05 -0.000121564017677 -0.00399998474121" rpy="-2.48826405921 1.57079632679 -0.0" />
  2709.       <axis xyz="0 0 0" />
  2710.     </joint>
  2711.  
  2712.  
  2713.     <joint name="ref_56_joint" type="fixed">
  2714.       <parent link="ref_46_link"/>
  2715.       <child link="ref_68_link"/>
  2716.       <origin xyz="1.67846679688e-08 0.0353007843018 -0.00604174194336" rpy="1.57079632679 -0.926784656568 1.57079632679" />
  2717.       <axis xyz="0 0 0" />
  2718.     </joint>
  2719.  
  2720.  
  2721.     <joint name="ref_57_joint" type="fixed">
  2722.       <parent link="ref_68_link"/>
  2723.       <child link="ref_67_link"/>
  2724.       <origin xyz="-0.0002001798191 0.0317793000828 -1.32751449019e-07" rpy="-1.57061380549 -1.57079632679 -0.0" />
  2725.       <axis xyz="0 0 0" />
  2726.     </joint>
  2727.  
  2728.  
  2729.     <joint name="ref_58_joint" type="fixed">
  2730.       <parent link="ref_67_link"/>
  2731.       <child link="ref_70_link"/>
  2732.       <origin xyz="-0.00799990386963 0.000286003943273 0.00022101454664" rpy="-1.57079632679 0.00542830955959 1.57079632679" />
  2733.       <axis xyz="0 0 0" />
  2734.     </joint>
  2735.  
  2736.  
  2737.     <joint name="ref_59_joint" type="fixed">
  2738.       <parent link="ref_70_link"/>
  2739.       <child link="ref_69_link"/>
  2740.       <origin xyz="-0.000359299519883 0.0321209404656 -0.00399998426438" rpy="0.64925745848 1.57079632679 -0.0" />
  2741.       <axis xyz="0 0 0" />
  2742.     </joint>
  2743.  
  2744.  
  2745.     <joint name="ref_60_joint" type="fixed">
  2746.       <parent link="ref_70_link"/>
  2747.       <child link="ref_71_link"/>
  2748.       <origin xyz="-0.000198846009448 0.0161999033932 -0.0079999792099" rpy="1.57600879599 1.57079632679 -0.0" />
  2749.       <axis xyz="0 0 0" />
  2750.     </joint>
  2751.  
  2752.  
  2753.     <joint name="ref_61_joint" type="fixed">
  2754.       <parent link="ref_47_link"/>
  2755.       <child link="ref_50_link"/>
  2756.       <origin xyz="0.0399999710083 -0.0160599922268 0.0196897999863" rpy="8.34504192624e-08 -0.0 -3.14159265359" />
  2757.       <axis xyz="0 0 0" />
  2758.     </joint>
  2759.  
  2760.  
  2761.     <joint name="ref_62_joint" type="fixed">
  2762.       <parent link="ref_50_link"/>
  2763.       <child link="ref_51_link"/>
  2764.       <origin xyz="6.103515625e-09 -0.000199983161326 -0.0157999807413" rpy="1.57079632679 1.31122394478e-07 -1.57079632679" />
  2765.       <axis xyz="0 0 0" />
  2766.     </joint>
  2767.  
  2768.  
  2769.     <joint name="ref_63_joint" type="fixed">
  2770.       <parent link="ref_51_link"/>
  2771.       <child link="ref_52_link"/>
  2772.       <origin xyz="-0.0163599669782 0.0318579211688 1.8310546875e-08" rpy="-0.643829530394 1.57079632679 -0.0" />
  2773.       <axis xyz="0 0 0" />
  2774.     </joint>
  2775.  
  2776.  
  2777.     <joint name="ref_64_joint" type="fixed">
  2778.       <parent link="ref_52_link"/>
  2779.       <child link="ref_53_link"/>
  2780.       <origin xyz="-0.00799927978516 -0.0205224685669 -0.0255599243164" rpy="1.57079632679 0.928236065379 1.57079632679" />
  2781.       <axis xyz="0 0 0" />
  2782.     </joint>
  2783.  
  2784.  
  2785.     <joint name="ref_65_joint" type="fixed">
  2786.       <parent link="ref_53_link"/>
  2787.       <child link="ref_54_link"/>
  2788.       <origin xyz="-3.98863461097e-05 -0.000119847141567 0.00399999341965" rpy="-2.49903239217 1.57079632679 -0.0" />
  2789.       <axis xyz="0 0 0" />
  2790.     </joint>
  2791.  
  2792.  
  2793.     <joint name="ref_66_joint" type="fixed">
  2794.       <parent link="ref_55_link"/>
  2795.       <child link="ref_83_link"/>
  2796.       <origin xyz="0.0399203762584 0.0400263221671 0.0239993227006" rpy="2.21654658269 1.57079632679 -0.0" />
  2797.       <axis xyz="0 0 0" />
  2798.     </joint>
  2799.  
  2800.  
  2801.     <joint name="ref_67_joint" type="fixed">
  2802.       <parent link="ref_83_link"/>
  2803.       <child link="ref_85_link"/>
  2804.       <origin xyz="-2.01416015625e-07 -0.0160000419617 -4.2724609375e-08" rpy="3.14159265359 1.57079632679 -0.0" />
  2805.       <axis xyz="0 0 0" />
  2806.     </joint>
  2807.  
  2808.  
  2809.     <joint name="ref_68_joint" type="fixed">
  2810.       <parent link="ref_85_link"/>
  2811.       <child link="ref_64_link"/>
  2812.       <origin xyz="-5.4931640625e-08 -0.0240000694275 -0.00400024719238" rpy="3.14159265359 1.57079632679 -0.0" />
  2813.       <axis xyz="0 0 0" />
  2814.     </joint>
  2815.  
  2816.  
  2817.     <joint name="ref_69_joint" type="fixed">
  2818.       <parent link="ref_55_link"/>
  2819.       <child link="ref_59_link"/>
  2820.       <origin xyz="0.0510787816103 0.0216009881725 -5.43212825869e-07" rpy="1.57079632679 -0.0 -0.645750255898" />
  2821.       <axis xyz="0 0 0" />
  2822.     </joint>
  2823.  
  2824.     <!-- CAMBIADO A MANO CALCANDO LA OTRA RUEDA -->
  2825.      <joint name="ref_70_joint" type="fixed">
  2826.       <parent link="ref_58_link_hub"/>
  2827.       <child link="ref_60_link"/>
  2828.       <origin xyz="-0.0135999953902 6.27180865763e-08 0.00020025516928" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
  2829.       <axis xyz="0 0 0" />
  2830.     </joint>
  2831.  
  2832.  
  2833.     <joint name="ref_71_joint" type="fixed">
  2834.       <parent link="ref_58_link_hub"/>
  2835.       <child link="ref_61_link"/>
  2836.       <origin xyz="-0.0139999923388 3.3327066933e-08 0.000200252172577" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
  2837.       <axis xyz="0 0 0" />
  2838.     </joint>
  2839.    
  2840.  
  2841.     <joint name="ref_72_joint" type="fixed">
  2842.       <parent link="ref_58_link_hub"/>
  2843.       <child link="ref_62_link"/>
  2844.       <origin xyz="-0.0248000045457 4.84863450879e-08 0.000200250608749" rpy="-1.57050969656 -1.57079580134 3.14158220772" />
  2845.       <axis xyz="0 0 0" />
  2846.     </joint>
  2847.  
  2848.  
  2849.     <joint name="ref_73_joint" type="fixed">
  2850.       <parent link="ref_58_link_hub"/>
  2851.       <child link="ref_63_link"/>
  2852.       <origin xyz="-0.0248000045455 6.06933763379e-08 0.000200253660507" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
  2853.       <axis xyz="0 0 0" />
  2854.     </joint>
  2855.  
  2856.  
  2857.     <joint name="ref_74_joint" type="fixed">
  2858.       <parent link="ref_55_link"/>
  2859.       <child link="ref_65_link"/>
  2860.       <origin xyz="-0.00646877793183 0.0449307060853 0.00399969434742" rpy="2.21654658269 1.57079632679 -0.0" />
  2861.       <axis xyz="0 0 0" />
  2862.     </joint>
  2863.  
  2864.  
  2865.     <joint name="ref_75_joint" type="fixed">
  2866.       <parent link="ref_55_link"/>
  2867.       <child link="ref_66_link"/>
  2868.       <origin xyz="-0.012857941605 0.0497451084184 0.00399971265796" rpy="2.21654658269 1.57079632679 -0.0" />
  2869.       <axis xyz="0 0 0" />
  2870.     </joint>
  2871.  
  2872.  
  2873.     <joint name="ref_76_joint" type="fixed">
  2874.       <parent link="ref_80_link"/>
  2875.       <child link="ref_87_link"/>
  2876.       <origin xyz="-0.00820010430812 0.0321999442816 0.00800022220609" rpy="1.57079632679 -1.57079632679 -0.0" />
  2877.       <axis xyz="0 0 0" />
  2878.     </joint>
  2879.  
  2880.  
  2881.     <joint name="ref_77_joint" type="fixed">
  2882.       <parent link="ref_87_link"/>
  2883.       <child link="ref_88_link"/>
  2884.       <origin xyz="-8.7559223175e-08 0.00800003890991 1.55639648438e-07" rpy="0.0 1.57079632679 -0.0" />
  2885.       <axis xyz="0 0 0" />
  2886.     </joint>
  2887.  
  2888.  
  2889.     <joint name="ref_78_joint" type="fixed">
  2890.       <parent link="ref_88_link"/>
  2891.       <child link="ref_76_link"/>
  2892.       <origin xyz="3.08227539063e-07 -0.02400001297 0.00400005322695" rpy="3.14159265359 1.57079632679 -0.0" />
  2893.       <axis xyz="0 0 0" />
  2894.     </joint>
  2895.  
  2896.  
  2897.     <joint name="ref_79_joint" type="fixed">
  2898.       <parent link="ref_37_link"/>
  2899.       <child link="ref_41_link"/>
  2900.       <origin xyz="-0.00799978489107 -0.0839998401413 0.000200239135829" rpy="3.14157725705 -1.60830320674e-10 -1.57080677267" />
  2901.       <axis xyz="0 0 0" />
  2902.     </joint>
  2903.  
  2904.  
  2905.     <joint name="ref_80_joint" type="fixed">
  2906.       <parent link="ref_37_link"/>
  2907.       <child link="ref_42_link"/>
  2908.       <origin xyz="-0.00399999652623 -0.023999902522 -0.0157998346541" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
  2909.       <axis xyz="0 0 0" />
  2910.     </joint>
  2911.  
  2912.  
  2913.     <joint name="ref_81_joint" type="fixed">
  2914.       <parent link="ref_37_link"/>
  2915.       <child link="ref_43_link"/>
  2916.       <origin xyz="-0.00400000908922 -0.0159999093883 -0.0157998041363" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
  2917.       <axis xyz="0 0 0" />
  2918.     </joint>
  2919.  
  2920.  
  2921.     <joint name="ref_82_joint" type="fixed">
  2922.       <parent link="ref_37_link_hub"/>
  2923.       <child link="ref_72_link"/>
  2924.       <origin xyz="-0.0135999953902 6.27180865763e-08 0.00020025516928" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
  2925.       <axis xyz="0 0 0" />
  2926.     </joint>
  2927.  
  2928.  
  2929.     <joint name="ref_83_joint" type="fixed">
  2930.       <parent link="ref_37_link_hub"/>
  2931.       <child link="ref_73_link"/>
  2932.       <origin xyz="-0.0248000045457 4.84863450879e-08 0.000200250608749" rpy="-1.57050969656 -1.57079580134 3.14158220772" />
  2933.       <axis xyz="0 0 0" />
  2934.     </joint>
  2935.  
  2936.  
  2937.     <joint name="ref_84_joint" type="fixed">
  2938.       <parent link="ref_37_link_hub"/>
  2939.       <child link="ref_74_link"/>
  2940.       <origin xyz="-0.0248000045455 6.06933763379e-08 0.000200253660507" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
  2941.       <axis xyz="0 0 0" />
  2942.     </joint>
  2943.  
  2944.  
  2945.     <joint name="ref_85_joint" type="fixed">
  2946.       <parent link="ref_37_link_hub"/>
  2947.       <child link="ref_75_link"/>
  2948.       <origin xyz="-0.0139999923388 3.3327066933e-08 0.000200252172577" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
  2949.       <axis xyz="0 0 0" />
  2950.     </joint>
  2951.  
  2952.  
  2953.     <joint name="ref_86_joint" type="fixed">
  2954.       <parent link="ref_27_link"/>
  2955.       <child link="ref_77_link"/>
  2956.       <origin xyz="1.61743144781e-07 0.024000021553 -0.00399992017747" rpy="3.14159265359 1.57079632679 -0.0" />
  2957.       <axis xyz="0 0 0" />
  2958.     </joint>
  2959.  
  2960.  
  2961.     <joint name="ref_87_joint" type="fixed">
  2962.       <parent link="ref_25_link"/>
  2963.       <child link="ref_78_link"/>
  2964.       <origin xyz="-0.00020022277832 0.0161999919653 0.00399998121262" rpy="1.57078310252 1.57079632679 -0.0" />
  2965.       <axis xyz="0 0 0" />
  2966.     </joint>
  2967.    
  2968.     <!-- GAZEBO STUFF -->
  2969.     <gazebo reference="caster_wheel_link">
  2970.       <mu1 value="100.0" />
  2971.       <mu2 value="100.0" />
  2972.       <kp  value="1000000.0" />
  2973.       <kd  value="1.0" />
  2974.     </gazebo>
  2975.    
  2976.     <gazebo>
  2977.       <controller:nxt_diff_plugin name="differential_drive_controller" plugin="libnxt_diff_plugin.so">
  2978.         <alwaysOn>true</alwaysOn>
  2979.         <update>100</update>
  2980.         <updateRate>100.0</updateRate>
  2981.         <leftJoint>left_wheel_joint</leftJoint>
  2982.         <rightJoint>right_wheel_joint</rightJoint>
  2983.         <wheelSeparation>0.34</wheelSeparation>
  2984.         <wheelDiameter>0.1492</wheelDiameter>
  2985.         <torque>5</torque>
  2986.         <interface:position name="position_iface_0"/>
  2987.         <robotNamespace>/</robotNamespace>
  2988.         <topicName>cmd_vel</topicName>
  2989.       </controller:nxt_diff_plugin>
  2990.      
  2991.       <canonicalBody>base_link</canonicalBody>
  2992.      
  2993.       <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
  2994.         <alwaysOn>true</alwaysOn>
  2995.         <updateRate>100.0</updateRate>
  2996.         <interface:audio name="gazebo_ros_controller_manager_dummy_iface" />
  2997.       </controller:gazebo_ros_controller_manager>
  2998.     </gazebo>
  2999.    
  3000. </robot>
Advertisement
RAW Paste Data Copied
Advertisement