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<!--This class cotains information on how to create a VirtualRobot::Robot -->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<AronIncludes>
<PackagePath package="RobotAPI" path="libraries/aron/common/aron/PackagePath.xml" />
</AronIncludes>
<Object name='armarx::armem::arondto::RobotInfoElement'>
<ObjectChild key='kinematic_chain'>
<string />
</ObjectChild>
<ObjectChild key='torso_kinematic_chain'>
<string />
</ObjectChild>
<ObjectChild key='tcp'>
<string />
</ObjectChild>
<ObjectChild key='force_torque_sensor'>
<string />
</ObjectChild>
<ObjectChild key='force_torque_sensor_frame'>
<string />
</ObjectChild>
<ObjectChild key='end_effector'>
<string />
</ObjectChild>
<ObjectChild key='hand_unit'>
<string />
</ObjectChild>
<!-- Legacy old memory -->
<!-- <ObjectChild key='memory_hand_name'>
<string />
</ObjectChild> -->
<ObjectChild key='hand_controller_name'>
<string />
</ObjectChild>
<ObjectChild key='hand_root_node'>
<string />
</ObjectChild>
<ObjectChild key='hand_model'>
<armarx::arondto::PackagePath />
</ObjectChild>
<ObjectChild key='palm_collision_model'>
<string />
</ObjectChild>
<ObjectChild key='full_hand_collision_model'>
<armarx::arondto::PackagePath />
</ObjectChild>
</Object>
<Object name='armarx::armem::arondto::ManipulationCapability'>
<ObjectChild key="affordance">
<string />
</ObjectChild>
<ObjectChild key="tcp">
<string optional="true"/>
</ObjectChild>
<ObjectChild key="shape">
<string optional="true"/>
</ObjectChild>
<ObjectChild key="type">
<string optional="true"/>
</ObjectChild>
</Object>
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<Object name='armarx::armem::arondto::RobotInfo'>
<ObjectChild key="parts">
<Dict>
<armarx::armem::arondto::RobotInfoElement />
</Dict>
</ObjectChild>
</Object>
<Object name='armarx::armem::arondto::BodyPartDescription'>
<ObjectChild key='xml'>
<armarx::arondto::PackagePath />
</ObjectChild>
<ObjectChild key='root_node_name'>
<string/>
</ObjectChild>
</Object>
<Object name='armarx::armem::arondto::RobotDescriptionVisualization'>
<ObjectChild key="body_parts">
<Dict>
<armarx::armem::arondto::BodyPartDescription />
</Dict>
</ObjectChild>
<!-- <ObjectChild key='right_hand_closed_joints'>
<Dict>
<float32 />
</Dict>
</ObjectChild>
<ObjectChild key='left_hand_closed_joints'>
<Dict>
<float32 />
</Dict>
</ObjectChild>
<ObjectChild key='right_hand_opened_joints'>
<Dict>
<float32 />
</Dict>
</ObjectChild>
<ObjectChild key='left_hand_opened_joints'>
<Dict>
<float32 />
</Dict>
</ObjectChild> -->
</Object>
<Object name='armarx::armem::arondto::RobotDescription'>
<ObjectChild key='name'>
<string />
</ObjectChild>
<ObjectChild key='xml'>
<armarx::arondto::PackagePath />
</ObjectChild>
<ObjectChild key='visualization'>
<armarx::armem::arondto::RobotDescriptionVisualization />
</ObjectChild>
<ObjectChild key='info'>
<armarx::armem::arondto::RobotInfo />
</ObjectChild>
<ObjectChild key='manipulationCapabilities'>
<Dict optional="true">
<List>
<armarx::armem::arondto::ManipulationCapability />
</List>
</Dict>
</ObjectChild>
</ObjectChild> -->
<!--
<ObjectChild key='attachments'>
<List>
<armarx::arondto::Attachment />
</List>
<ObjectChild/>
-->
<ObjectChild key='timestamp'>
<Time />
</ObjectChild>
</Object>
</GenerateTypes>
</AronTypeDefinition>