{"name":"x2t2.5","source":"X2_URDF-v1.3.0/x2_ultra.urdf","generated_by":"build_model.py (vertex-clustered, uint16-quantised)","target_triangles_per_link":1500,"root":"base_link","links":{"pelvis":{"name":"pelvis","meshes":[{"file":"pelvis.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.074959,-0.085881,-0.065252],"span":[0.139767,0.171762,0.133113],"vertex_offset":0,"vertex_count":1889,"index_offset":11334,"index_count":17790,"index_bits":16}]},"imu_in_pelvis_link":{"name":"imu_in_pelvis_link","meshes":[{"file":"imu_in_pelvis_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.010545,-0.010971,-0.0104],"span":[0.02405,0.0224,0.014],"vertex_offset":46914,"vertex_count":1078,"index_offset":53382,"index_count":8190,"index_bits":16}]},"left_hip_pitch_link":{"name":"left_hip_pitch_link","meshes":[{"file":"left_hip_pitch_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.04,-0.0,-0.06154],"span":[0.07585,0.127505,0.123361],"vertex_offset":69762,"vertex_count":2046,"index_offset":82038,"index_count":15648,"index_bits":16}]},"left_hip_roll_link":{"name":"left_hip_roll_link","meshes":[{"file":"left_hip_roll_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.063426,-0.058888,-0.147494],"span":[0.128001,0.118888,0.1965],"vertex_offset":113334,"vertex_count":920,"index_offset":118854,"index_count":9768,"index_bits":16}]},"left_hip_yaw_link":{"name":"left_hip_yaw_link","meshes":[{"file":"left_hip_yaw_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.068093,-0.057893,-0.243918],"span":[0.130093,0.11589,0.242774],"vertex_offset":138390,"vertex_count":1107,"index_offset":145032,"index_count":14154,"index_bits":16}]},"left_knee_link":{"name":"left_knee_link","meshes":[{"file":"left_knee_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.054872,-0.052325,-0.30291],"span":[0.117822,0.105558,0.354794],"vertex_offset":173340,"vertex_count":879,"index_offset":178614,"index_count":10014,"index_bits":16}]},"left_ankle_pitch_link":{"name":"left_ankle_pitch_link","meshes":[{"file":"left_ankle_pitch_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.0411,-0.0343,-0.032007],"span":[0.0799,0.0686,0.064016],"vertex_offset":198642,"vertex_count":2502,"index_offset":213654,"index_count":16596,"index_bits":16}]},"left_ankle_roll_link":{"name":"left_ankle_roll_link","meshes":[{"file":"left_ankle_roll_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.071262,-0.062702,-0.073327],"span":[0.219221,0.127237,0.105327],"vertex_offset":246846,"vertex_count":1284,"index_offset":254550,"index_count":15654,"index_bits":16}]},"right_hip_pitch_link":{"name":"right_hip_pitch_link","meshes":[{"file":"right_hip_pitch_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.04,-0.127505,-0.06154],"span":[0.07506,0.127505,0.12336],"vertex_offset":285858,"vertex_count":2067,"index_offset":298260,"index_count":15546,"index_bits":16}]},"right_hip_roll_link":{"name":"right_hip_roll_link","meshes":[{"file":"right_hip_roll_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.064,-0.057848,-0.147494],"span":[0.128001,0.117844,0.1965],"vertex_offset":329352,"vertex_count":917,"index_offset":334854,"index_count":9750,"index_bits":16}]},"right_hip_yaw_link":{"name":"right_hip_yaw_link","meshes":[{"file":"right_hip_yaw_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.067862,-0.057893,-0.243996],"span":[0.129862,0.11589,0.242852],"vertex_offset":354354,"vertex_count":1106,"index_offset":360990,"index_count":14082,"index_bits":16}]},"right_knee_link":{"name":"right_knee_link","meshes":[{"file":"right_knee_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.055371,-0.052516,-0.302812],"span":[0.118321,0.106199,0.354696],"vertex_offset":389154,"vertex_count":880,"index_offset":394434,"index_count":10008,"index_bits":16}]},"right_ankle_pitch_link":{"name":"right_ankle_pitch_link","meshes":[{"file":"right_ankle_pitch_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.0411,-0.0343,-0.032007],"span":[0.0799,0.0686,0.064016],"vertex_offset":414450,"vertex_count":2502,"index_offset":429462,"index_count":16596,"index_bits":16}]},"right_ankle_roll_link":{"name":"right_ankle_roll_link","meshes":[{"file":"right_ankle_roll_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.071262,-0.062702,-0.073327],"span":[0.219221,0.127237,0.105327],"vertex_offset":462654,"vertex_count":1284,"index_offset":470358,"index_count":15654,"index_bits":16}]},"waist_yaw_link":{"name":"waist_yaw_link","meshes":[{"file":"waist_yaw_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.066501,-0.066407,-0.00192],"span":[0.136,0.135868,0.107426],"vertex_offset":501666,"vertex_count":2519,"index_offset":516780,"index_count":19146,"index_bits":16}]},"waist_pitch_link":{"name":"waist_pitch_link","meshes":[{"file":"waist_pitch_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.014794,-0.0336,-0.014799],"span":[0.056394,0.0672,0.029598],"vertex_offset":555072,"vertex_count":2701,"index_offset":571278,"index_count":18138,"index_bits":16}]},"torso_link":{"name":"torso_link","meshes":[{"file":"torso_plus_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.170017,-0.145923,-0.014582],"span":[0.278206,0.297135,0.388253],"vertex_offset":607554,"vertex_count":446,"index_offset":610230,"index_count":6072,"index_bits":16}]},"imu_in_torso_link":{"name":"imu_in_torso_link","meshes":[{"file":"imu_in_torso_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.010671,-0.01315,-0.003637],"span":[0.02405,0.022427,0.014037],"vertex_offset":622374,"vertex_count":1004,"index_offset":628398,"index_count":7521,"index_bits":16}]},"left_shoulder_pitch_link":{"name":"left_shoulder_pitch_link","meshes":[{"file":"left_shoulder_pitch_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.036025,0.0,-0.044986],"span":[0.069291,0.0946,0.090176],"vertex_offset":643440,"vertex_count":2317,"index_offset":657342,"index_count":15162,"index_bits":16}]},"left_shoulder_roll_link":{"name":"left_shoulder_roll_link","meshes":[{"file":"left_shoulder_roll_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.051908,-0.042503,-0.128576],"span":[0.104798,0.085005,0.171294],"vertex_offset":687666,"vertex_count":2155,"index_offset":700596,"index_count":18936,"index_bits":16}]},"left_shoulder_yaw_link":{"name":"left_shoulder_yaw_link","meshes":[{"file":"left_shoulder_yaw_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.042048,-0.042001,-0.119876],"span":[0.090311,0.084,0.139876],"vertex_offset":738468,"vertex_count":2147,"index_offset":751350,"index_count":17880,"index_bits":16}]},"left_elbow_link":{"name":"left_elbow_link","meshes":[{"file":"left_elbow_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.05349,-0.040201,-0.125599],"span":[0.080923,0.084666,0.153119],"vertex_offset":787110,"vertex_count":2226,"index_offset":800466,"index_count":16842,"index_bits":16}]},"left_wrist_yaw_link":{"name":"left_wrist_yaw_link","meshes":[{"file":"left_wrist_yaw_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.03979,-0.042547,-0.099227],"span":[0.079998,0.087047,0.102016],"vertex_offset":834150,"vertex_count":1808,"index_offset":844998,"index_count":15126,"index_bits":16}]},"left_wrist_pitch_link":{"name":"left_wrist_pitch_link","meshes":[{"file":"left_wrist_pitch_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.0355,-0.0305,-0.024725],"span":[0.0705,0.058,0.047725],"vertex_offset":875250,"vertex_count":2157,"index_offset":888192,"index_count":19212,"index_bits":16}]},"left_wrist_roll_link":{"name":"left_wrist_roll_link","meshes":[{"file":"left_wrist_roll_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.041,-0.044168,-0.180866],"span":[0.096174,0.070314,0.197366],"vertex_offset":926616,"vertex_count":1712,"index_offset":936888,"index_count":13452,"index_bits":16}]},"right_shoulder_pitch_link":{"name":"right_shoulder_pitch_link","meshes":[{"file":"right_shoulder_pitch_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.035989,-0.0946,-0.045002],"span":[0.068996,0.0946,0.090002],"vertex_offset":963792,"vertex_count":2381,"index_offset":978078,"index_count":15510,"index_bits":16}]},"right_shoulder_roll_link":{"name":"right_shoulder_roll_link","meshes":[{"file":"right_shoulder_roll_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.051901,-0.042502,-0.12855],"span":[0.104789,0.085005,0.17127],"vertex_offset":1009098,"vertex_count":2143,"index_offset":1021956,"index_count":19008,"index_bits":16}]},"right_shoulder_yaw_link":{"name":"right_shoulder_yaw_link","meshes":[{"file":"right_shoulder_yaw_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.041381,-0.041999,-0.118296],"span":[0.089644,0.084,0.138542],"vertex_offset":1059972,"vertex_count":2005,"index_offset":1072002,"index_count":15018,"index_bits":16}]},"right_elbow_link":{"name":"right_elbow_link","meshes":[{"file":"right_elbow_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.052234,-0.044465,-0.125494],"span":[0.080927,0.084667,0.153104],"vertex_offset":1102038,"vertex_count":2152,"index_offset":1114950,"index_count":16284,"index_bits":16}]},"right_wrist_yaw_link":{"name":"right_wrist_yaw_link","meshes":[{"file":"right_wrist_yaw_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.03808,-0.044499,-0.09903],"span":[0.080283,0.087047,0.10203],"vertex_offset":1147518,"vertex_count":1801,"index_offset":1158324,"index_count":15270,"index_bits":16}]},"right_wrist_pitch_link":{"name":"right_wrist_pitch_link","meshes":[{"file":"right_wrist_pitch_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.0355,-0.0275,-0.024725],"span":[0.0705,0.058,0.047725],"vertex_offset":1188864,"vertex_count":2148,"index_offset":1201752,"index_count":19164,"index_bits":16}]},"right_wrist_roll_link":{"name":"right_wrist_roll_link","meshes":[{"file":"right_wrist_roll_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.041,-0.026239,-0.180986],"span":[0.096433,0.070973,0.197486],"vertex_offset":1240080,"vertex_count":1782,"index_offset":1250772,"index_count":14226,"index_bits":16}]},"head_yaw_link":{"name":"head_yaw_link","meshes":[{"file":"head_yaw_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.06375,-0.05625,-0.0102],"span":[0.108249,0.112595,0.036301],"vertex_offset":1279224,"vertex_count":2002,"index_offset":1291236,"index_count":12672,"index_bits":16}]},"head_pitch_link":{"name":"head_pitch_link","meshes":[{"file":"head_pitch_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.083809,-0.071063,-0.083977],"span":[0.16395,0.142162,0.169877],"vertex_offset":1316580,"vertex_count":1465,"index_offset":1325370,"index_count":19098,"index_bits":16}]},"imu_in_head_link":{"name":"imu_in_head_link","meshes":[{"file":"imu_in_head_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.010704,-0.013179,-0.0036],"span":[0.024077,0.022466,0.014],"vertex_offset":1363566,"vertex_count":1008,"index_offset":1369614,"index_count":7632,"index_bits":16}]},"rgbd_head_front":{"name":"rgbd_head_front","meshes":[{"file":"rgbd_head_front_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.030684,-0.009356,-0.000675],"span":[0.083354,0.018756,0.000903],"vertex_offset":1384878,"vertex_count":244,"index_offset":1386342,"index_count":1440,"index_bits":16}]},"stereo_head_front":{"name":"stereo_head_front","meshes":[{"file":"stereo_head_front_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.009444,-0.0125,-0.02123],"span":[0.078889,0.025,0.023228],"vertex_offset":1389222,"vertex_count":1317,"index_offset":1397124,"index_count":7704,"index_bits":16}]},"rgb_head_rear":{"name":"rgb_head_rear","meshes":[{"file":"rgb_head_rear_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.0175,-0.01,-0.01855],"span":[0.035,0.02,0.020758],"vertex_offset":1412532,"vertex_count":933,"index_offset":1418130,"index_count":5970,"index_bits":16}]},"rgb_head_center":{"name":"rgb_head_center","meshes":[{"file":"rgb_head_center_link.STL","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"lo":[-0.015,-0.017,-0.0156],"span":[0.03,0.034,0.015945],"vertex_offset":1430070,"vertex_count":848,"index_offset":1435158,"index_count":6396,"index_bits":16}]},"lidar_chest_front":{"name":"lidar_chest_front","meshes":[]},"base_link":{"name":"base_link","meshes":[]}},"joints":[{"name":"imu_in_pelvis_joint","type":"fixed","parent":"pelvis","child":"imu_in_pelvis_link","origin":{"xyz":[0.0239464627920677,-0.00022868187247424,0.0417100000000296],"rpy":[0.0,0.0,0.0]},"axis":[0.0,0.0,0.0],"lower":null,"upper":null,"effort":null,"velocity":null},{"name":"left_hip_pitch_joint","type":"revolute","parent":"pelvis","child":"left_hip_pitch_link","origin":{"xyz":[0.0,0.0713499997541465,0.0],"rpy":[0.0,0.0,0.0]},"axis":[0.0,1.0,0.0],"lower":-2.704,"upper":2.556,"effort":120.0,"velocity":11.936},{"name":"left_hip_roll_joint","type":"revolute","parent":"left_hip_pitch_link","child":"left_hip_roll_link","origin":{"xyz":[-0.000574999999960968,0.0657000000000312,0.0],"rpy":[0.0,0.0,0.0]},"axis":[1.0,0.0,0.0],"lower":-0.235,"upper":2.906,"effort":120.0,"velocity":11.936},{"name":"left_hip_yaw_joint","type":"revolute","parent":"left_hip_roll_link","child":"left_hip_yaw_link","origin":{"xyz":[0.000574999999972778,0.0,-0.136850000000045],"rpy":[0.0,0.0,0.0]},"axis":[0.0,0.0,1.0],"lower":-1.684,"upper":3.43,"effort":120.0,"velocity":11.936},{"name":"left_knee_joint","type":"revolute","parent":"left_hip_yaw_link","child":"left_knee_link","origin":{"xyz":[-0.00765999999995284,0.000225000000070329,-0.18309999999998],"rpy":[0.0,0.0,0.0]},"axis":[0.0,1.0,0.0],"lower":0.0,"upper":2.4073,"effort":120.0,"velocity":11.936},{"name":"left_ankle_pitch_joint","type":"revolute","parent":"left_knee_link","child":"left_ankle_pitch_link","origin":{"xyz":[-0.0100000000000136,-0.000124910735236235,-0.282000000000081],"rpy":[0.0,0.0,0.0]},"axis":[0.0,1.0,0.0],"lower":-0.803,"upper":0.453,"effort":36.0,"velocity":13.087},{"name":"left_ankle_roll_joint","type":"revolute","parent":"left_ankle_pitch_link","child":"left_ankle_roll_link","origin":{"xyz":[-0.00174999998947351,0.0,0.0],"rpy":[0.0,0.0,0.0]},"axis":[1.0,0.0,0.0],"lower":-0.262,"upper":0.262,"effort":24.0,"velocity":15.077},{"name":"right_hip_pitch_joint","type":"revolute","parent":"pelvis","child":"right_hip_pitch_link","origin":{"xyz":[0.0,-0.0713499997541464,0.0],"rpy":[0.0,0.0,0.0]},"axis":[0.0,1.0,0.0],"lower":-2.704,"upper":2.556,"effort":120.0,"velocity":11.936},{"name":"right_hip_roll_joint","type":"revolute","parent":"right_hip_pitch_link","child":"right_hip_roll_link","origin":{"xyz":[0.0,-0.0657000004916197,0.0],"rpy":[0.0,0.0,0.0]},"axis":[1.0,0.0,0.0],"lower":-2.906,"upper":0.235,"effort":120.0,"velocity":11.936},{"name":"right_hip_yaw_joint","type":"revolute","parent":"right_hip_roll_link","child":"right_hip_yaw_link","origin":{"xyz":[0.0,0.0,-0.136850000000023],"rpy":[0.0,0.0,0.0]},"axis":[0.0,0.0,1.0],"lower":-3.43,"upper":1.684,"effort":120.0,"velocity":11.936},{"name":"right_knee_joint","type":"revolute","parent":"right_hip_yaw_link","child":"right_knee_link","origin":{"xyz":[-0.00766000000003646,-0.000225000000000253,-0.183100000000014],"rpy":[0.0,0.0,0.0]},"axis":[0.0,1.0,0.0],"lower":0.0,"upper":2.4073,"effort":120.0,"velocity":11.936},{"name":"right_ankle_pitch_joint","type":"revolute","parent":"right_knee_link","child":"right_ankle_pitch_link","origin":{"xyz":[-0.00999999999984942,0.000124910735223305,-0.282000000000021],"rpy":[0.0,0.0,0.0]},"axis":[0.0,1.0,0.0],"lower":-0.803,"upper":0.453,"effort":36.0,"velocity":13.088},{"name":"right_ankle_roll_joint","type":"revolute","parent":"right_ankle_pitch_link","child":"right_ankle_roll_link","origin":{"xyz":[-0.00174999998537372,0.0,0.0],"rpy":[0.0,0.0,0.0]},"axis":[1.0,0.0,0.0],"lower":-0.2625,"upper":0.2625,"effort":24.0,"velocity":15.077},{"name":"waist_yaw_joint","type":"revolute","parent":"pelvis","child":"waist_yaw_link","origin":{"xyz":[0.0,0.0,0.0670600000000297],"rpy":[0.0,0.0,0.0]},"axis":[0.0,0.0,1.0],"lower":-3.43,"upper":2.382,"effort":120.0,"velocity":11.936},{"name":"waist_pitch_joint","type":"revolute","parent":"waist_yaw_link","child":"waist_pitch_link","origin":{"xyz":[0.0,0.0,0.0880106468356499],"rpy":[0.0,0.0,0.0]},"axis":[0.0,1.0,0.0],"lower":-0.314,"upper":0.314,"effort":48.0,"velocity":13.088},{"name":"waist_roll_joint","type":"revolute","parent":"waist_pitch_link","child":"torso_link","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"axis":[1.0,0.0,0.0],"lower":-0.488,"upper":0.488,"effort":48.0,"velocity":13.088},{"name":"imu_in_torso_joint","type":"fixed","parent":"torso_link","child":"imu_in_torso_link","origin":{"xyz":[-0.0248787003951661,0.0019852778697029,0.105938055641669],"rpy":[0.0,0.0,0.0]},"axis":[0.0,0.0,0.0],"lower":null,"upper":null,"effort":null,"velocity":null},{"name":"left_shoulder_pitch_joint","type":"revolute","parent":"torso_link","child":"left_shoulder_pitch_link","origin":{"xyz":[0.00329906676354264,0.143031506663431,0.241647721005027],"rpy":[0.209439453777995,0.0,0.0]},"axis":[0.0,1.0,0.0],"lower":-3.08,"upper":2.04,"effort":36.0,"velocity":13.088},{"name":"left_shoulder_roll_joint","type":"revolute","parent":"left_shoulder_pitch_link","child":"left_shoulder_roll_link","origin":{"xyz":[-0.000499991072907324,0.0495,0.0],"rpy":[0.0,0.0,0.0]},"axis":[1.0,0.0,0.0],"lower":-0.061,"upper":2.993,"effort":36.0,"velocity":13.088},{"name":"left_shoulder_yaw_joint","type":"revolute","parent":"left_shoulder_roll_link","child":"left_shoulder_yaw_link","origin":{"xyz":[0.00122423638490546,0.0,-0.121194848262102],"rpy":[0.0,-0.00597565694965793,0.0]},"axis":[0.0,0.0,1.0],"lower":-2.556,"upper":2.556,"effort":24.0,"velocity":15.077},{"name":"left_elbow_joint","type":"revolute","parent":"left_shoulder_yaw_link","child":"left_elbow_link","origin":{"xyz":[0.0140000000488655,0.000199986464082369,-0.0829500000002385],"rpy":[0.0,0.00597565694965793,0.0]},"axis":[0.0,1.0,0.0],"lower":-2.3556,"upper":0.0,"effort":24.0,"velocity":15.077},{"name":"left_wrist_yaw_joint","type":"revolute","parent":"left_elbow_link","child":"left_wrist_yaw_link","origin":{"xyz":[-0.0132797235062217,-9.75487744990788e-05,-0.120575783591803],"rpy":[0.0,0.0,0.0]},"axis":[0.0,0.0,1.0],"lower":-2.556,"upper":2.556,"effort":24.0,"velocity":15.077},{"name":"left_wrist_pitch_joint","type":"revolute","parent":"left_wrist_yaw_link","child":"left_wrist_pitch_link","origin":{"xyz":[0.000490001227040848,0.0,-0.0819985359552045],"rpy":[0.0,-0.00597566028430406,0.0]},"axis":[0.0,1.0,0.0],"lower":-0.558,"upper":0.558,"effort":4.8,"velocity":4.188},{"name":"left_wrist_roll_joint","type":"revolute","parent":"left_wrist_pitch_link","child":"left_wrist_roll_link","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"axis":[1.0,0.0,0.0],"lower":-1.571,"upper":0.724,"effort":4.8,"velocity":4.188},{"name":"right_shoulder_pitch_joint","type":"revolute","parent":"torso_link","child":"right_shoulder_pitch_link","origin":{"xyz":[0.00330093831251838,-0.143030971450747,0.241648201390685],"rpy":[-0.209442812383636,0.0,0.0]},"axis":[0.0,1.0,0.0],"lower":-3.08,"upper":2.04,"effort":36.0,"velocity":13.088},{"name":"right_shoulder_roll_joint","type":"revolute","parent":"right_shoulder_pitch_link","child":"right_shoulder_roll_link","origin":{"xyz":[-0.000499999994070091,-0.0495000000000002,0.0],"rpy":[0.0,0.000154003092926045,0.0]},"axis":[1.0,0.0,0.0],"lower":-2.993,"upper":0.061,"effort":36.0,"velocity":13.088},{"name":"right_shoulder_yaw_joint","type":"revolute","parent":"right_shoulder_roll_link","child":"right_shoulder_yaw_link","origin":{"xyz":[0.000499999999999765,0.0,-0.121199999999934],"rpy":[0.0,0.0,0.0]},"axis":[0.0,0.0,1.0],"lower":-2.556,"upper":2.556,"effort":24.0,"velocity":15.077},{"name":"right_elbow_joint","type":"revolute","parent":"right_shoulder_yaw_link","child":"right_elbow_link","origin":{"xyz":[0.0139999999999662,-0.0002000000000143,-0.0829500000000745],"rpy":[0.0,0.0,0.0]},"axis":[0.0,1.0,0.0],"lower":-2.3556,"upper":0.0,"effort":24.0,"velocity":15.077},{"name":"right_wrist_yaw_joint","type":"revolute","parent":"right_elbow_link","child":"right_wrist_yaw_link","origin":{"xyz":[-0.0140000017961392,9.7526096753231e-05,-0.120694276209686],"rpy":[0.0,0.0,3.27341906322599e-05]},"axis":[0.0,0.0,1.0],"lower":-2.556,"upper":2.556,"effort":24.0,"velocity":15.077},{"name":"right_wrist_pitch_joint","type":"revolute","parent":"right_wrist_yaw_link","child":"right_wrist_pitch_link","origin":{"xyz":[0.0,0.0,-0.081799999999999],"rpy":[0.0,0.0,-3.27341932546355e-05]},"axis":[0.0,1.0,0.0],"lower":-0.558,"upper":0.558,"effort":4.8,"velocity":4.188},{"name":"right_wrist_roll_joint","type":"revolute","parent":"right_wrist_pitch_link","child":"right_wrist_roll_link","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"axis":[1.0,0.0,0.0],"lower":-0.724,"upper":1.571,"effort":4.8,"velocity":4.188},{"name":"head_yaw_joint","type":"revolute","parent":"torso_link","child":"head_yaw_link","origin":{"xyz":[0.00834772789983268,0.0,0.309397077276121],"rpy":[0.0,0.0,0.0]},"axis":[0.0,0.0,1.0],"lower":-0.366,"upper":0.366,"effort":2.6,"velocity":6.019},{"name":"head_pitch_joint","type":"revolute","parent":"head_yaw_link","child":"head_pitch_link","origin":{"xyz":[0.0,0.0,0.0889],"rpy":[0.0,0.0,0.0]},"axis":[0.0,1.0,0.0],"lower":-0.3838,"upper":0.3838,"effort":0.6,"velocity":6.28},{"name":"imu_in_head_joint","type":"fixed","parent":"head_pitch_link","child":"imu_in_head_link","origin":{"xyz":[0.0259998716312927,-8.2538922380776e-05,0.0175999960932565],"rpy":[0.0,0.0,0.0]},"axis":[0.0,0.0,0.0],"lower":null,"upper":null,"effort":null,"velocity":null},{"name":"rgbd_head_front","type":"fixed","parent":"head_pitch_link","child":"rgbd_head_front","origin":{"xyz":[0.05761,-0.011183,-0.04837],"rpy":[2.2689,0.0,1.5708]},"axis":[0.0,0.0,0.0],"lower":null,"upper":null,"effort":null,"velocity":null},{"name":"stereo_head_front","type":"fixed","parent":"head_pitch_link","child":"stereo_head_front","origin":{"xyz":[0.067995,0.029784,0.05],"rpy":[-1.5708,0.0,-1.574]},"axis":[0.0,0.0,0.0],"lower":null,"upper":null,"effort":null,"velocity":null},{"name":"rgb_head_rear","type":"fixed","parent":"head_pitch_link","child":"rgb_head_rear","origin":{"xyz":[-0.0834,0.00026495,0.0],"rpy":[-1.5708,0.0,1.5676]},"axis":[0.0,0.0,0.0],"lower":null,"upper":null,"effort":null,"velocity":null},{"name":"rgb_head_center","type":"fixed","parent":"head_pitch_link","child":"rgb_head_center","origin":{"xyz":[0.0684,-0.00021713,0.05],"rpy":[-1.5708,0.0,-1.574]},"axis":[0.0,0.0,0.0],"lower":null,"upper":null,"effort":null,"velocity":null},{"name":"lidar_chest_front","type":"fixed","parent":"torso_link","child":"lidar_chest_front","origin":{"xyz":[0.102632855873251,0.0,0.181586916322065],"rpy":[-1.5707963267949,0.0,0.0]},"axis":[0.0,0.0,0.0],"lower":null,"upper":null,"effort":null,"velocity":null},{"name":"base_link_joint","type":"fixed","parent":"base_link","child":"pelvis","origin":{"xyz":[0.0,0.0,0.0],"rpy":[0.0,0.0,0.0]},"axis":[0.0,0.0,1.0],"lower":null,"upper":null,"effort":null,"velocity":null}],"geometry_bytes":1447950}