diff --git a/data/RobotAPI/robots/MMM/mmm.xml b/data/RobotAPI/robots/MMM/mmm.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a5a3c701973044f52ddeea22ee7540e0e2b8a22c
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/mmm.xml
@@ -0,0 +1,3474 @@
+<?xml version='1.0' encoding='UTF-8'?>
+
+<Robot Type='MMM' RootNode='root_joint'>
+
+ <RobotNode name='BLNsegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='22' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='1'/>
+ <limits lo='0' hi='22' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Sensor type='position' name='MARKER_C7'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='-38.9454' />
+ <row3 c1='0' c2='0' c3='1' c4='-0.688374' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>BLNsegment_joint
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_CLAV'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-0.205368' />
+ <row2 c1='0' c2='1' c3='0' c4='51.8562' />
+ <row3 c1='0' c2='0' c3='1' c4='-16.0151' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='BLNx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='BLNx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-0.785398' hi='0.261799' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='BLNz_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='BLNy_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.349066' hi='0.349066' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='BUNsegment_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='BLNz_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='0' z='1'/>
+ <limits lo='-0.261799' hi='0.261799' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='BLNy_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='BPSegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='40' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='1'/>
+ <limits lo='0' hi='40' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.11'/>
+ <CoM location='Custom' x='0' y='3.33729e-08' z='-35.8'/>
+ <InertiaMatrix>
+ <row1 c1='0.000454' c2='0' c3='0'/>
+ <row2 c1='0' c2='0.0003637' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.0004191'/>
+ </InertiaMatrix>
+ </Physics>
+ <Sensor type='position' name='MARKER_L3'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='-50' />
+ <row3 c1='0' c2='0' c3='1' c4='22.278' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='BPx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='BPx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-0.872665' hi='0.610865' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='BPz_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='BPy_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.349066' hi='0.349066' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='BTSegment_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='BPz_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='0' z='1'/>
+ <limits lo='-0.785398' hi='0.785398' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='BPy_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='BTSegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='60' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='1'/>
+ <limits lo='0' hi='60' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.1'/>
+ <CoM location='Custom' x='0' y='3.33729e-08' z='-33.6'/>
+ <InertiaMatrix>
+ <row1 c1='1.024' c2='0' c3='0'/>
+ <row2 c1='0' c2='0.81796' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.676'/>
+ </InertiaMatrix>
+ </Physics>
+ <Visualization>
+ <File type='inventor'>./models/BTSegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='BTx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='BTx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-0.610865' hi='0.471239' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='BTz_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='BTy_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.349066' hi='0.349066' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='collarSegment_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='BTz_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='0' z='1'/>
+ <limits lo='-0.628319' hi='0.628319' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='BTy_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='BUNsegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='30' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='1'/>
+ <limits lo='0' hi='30' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.024'/>
+ <CoM location='Custom' x='0' y='3.33729e-08' z='-15'/>
+ <InertiaMatrix>
+ <row1 c1='0.0287585' c2='0' c3='0'/>
+ <row2 c1='0' c2='0.0287585' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.0139392'/>
+ </InertiaMatrix>
+ </Physics>
+ <Visualization>
+ <File type='inventor'>./models/BUNsegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='BUNx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='BUNx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-0.349066' hi='0.523599' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='BUNz_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='BUNy_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.261799' hi='0.261799' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='MidHeadSegment_joint'/>
+ <Child name='HeadSegment_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='BUNz_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='0' z='1'/>
+ <limits lo='-0.349066' hi='0.349066' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='BUNy_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='HeadSegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='130' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='1'/>
+ <limits lo='0' hi='130' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.07'/>
+ <CoM location='Custom' x='0' y='3.33729e-08' z='-65'/>
+ <InertiaMatrix>
+ <row1 c1='0.612157' c2='0' c3='0'/>
+ <row2 c1='0' c2='0.5733' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.430612'/>
+ </InertiaMatrix>
+ </Physics>
+ <Visualization>
+ <File type='inventor'>./models/HeadSegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_LBHD'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-28.4608' />
+ <row2 c1='0' c2='1' c3='0' c4='-32.9923' />
+ <row3 c1='0' c2='0' c3='1' c4='-50.3193' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_LFHD'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-28.4608' />
+ <row2 c1='0' c2='1' c3='0' c4='31.9975' />
+ <row3 c1='0' c2='0' c3='1' c4='-50.3193' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_RBHD'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='28.46' />
+ <row2 c1='0' c2='1' c3='0' c4='-32.9923' />
+ <row3 c1='0' c2='0' c3='1' c4='-50.3193' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_RFHD'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='28.46' />
+ <row2 c1='0' c2='1' c3='0' c4='31.9975' />
+ <row3 c1='0' c2='0' c3='1' c4='-50.3193' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ </RobotNode>
+
+
+ <RobotNode name='LAsegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='-246' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='-1'/>
+ <limits lo='0' hi='246' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.04'/>
+ <CoM location='Custom' x='-2.75474e-12' y='1.04413e-05' z='139.5'/>
+ <InertiaMatrix>
+ <row1 c1='0.237419' c2='0' c3='0'/>
+ <row2 c1='0' c2='0.256481' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.040572'/>
+ </InertiaMatrix>
+ </Physics>
+ <Visualization>
+ <File type='inventor'>./models/LAsegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_LTIP'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-12.8329' />
+ <row2 c1='0' c2='1' c3='0' c4='18.92' />
+ <row3 c1='0' c2='0' c3='1' c4='103.84' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='LAx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LAx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-0.698132' hi='0.523599' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='LAz_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LAy_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.349066' hi='0.349066' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LAy_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_LANK'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-22.9033' />
+ <row2 c1='0' c2='1' c3='0' c4='4.86361e-07' />
+ <row3 c1='0' c2='0' c3='1' c4='-18.2531' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_LHEE'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0.458916' />
+ <row2 c1='0' c2='1' c3='0' c4='-33.2631' />
+ <row3 c1='0' c2='0' c3='1' c4='-15.4982' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='LeftFootHeight_joint'/>
+ <Child name='LMrot_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LAz_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='0' z='1'/>
+ <limits lo='-0.523599' hi='0.523599' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='LAy_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LEsegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='-188' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='-1'/>
+ <limits lo='0' hi='188' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.027'/>
+ <CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='106'/>
+ <InertiaMatrix>
+ <row1 c1='0.0837755' c2='0' c3='0'/>
+ <row2 c1='0' c2='0.0940772' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.0287506'/>
+ </InertiaMatrix>
+ </Physics>
+ <Visualization>
+ <File type='inventor'>./models/LEsegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_LAEL'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-1.54455' />
+ <row2 c1='0' c2='1' c3='0' c4='-17.482' />
+ <row3 c1='0' c2='0' c3='1' c4='-2.20636' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_LAOL'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='12.4554' />
+ <row2 c1='0' c2='1' c3='0' c4='-15.5' />
+ <row3 c1='0' c2='0' c3='1' c4='-1.86715' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_LUPA'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-19.8687' />
+ <row2 c1='0' c2='1' c3='0' c4='2.6444' />
+ <row3 c1='0' c2='0' c3='1' c4='126.53' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='LEx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LEx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='2.79253' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='LEz_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LEz_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='0' z='1'/>
+ <limits lo='-1.5708' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='LWsegment_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LFx_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='0.987688' c2='-0.151104' c3='-0.0404882' c4='-8.8' />
+ <row2 c1='0.156434' c2='0.954034' c3='0.255633' c4='53.7' />
+ <row3 c1='0' c2='-0.258819' c3='0.965926' c4='-14.4' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-0.785398' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LFx_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_LTOE'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='14.1863' />
+ <row2 c1='0' c2='1' c3='0' c4='33.7441' />
+ <row3 c1='0' c2='0' c3='1' c4='-2.44184' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ </RobotNode>
+
+
+ <RobotNode name='LHsegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-52' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='0' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='-1' y='0' z='0'/>
+ <limits lo='0' hi='52' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LHsegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_LASI'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-15.7722' />
+ <row2 c1='0' c2='1' c3='0' c4='43.9811' />
+ <row3 c1='0' c2='0' c3='1' c4='34.9948' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_LHIP'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-45.15' />
+ <row2 c1='0' c2='1' c3='0' c4='3.33725e-08' />
+ <row3 c1='0' c2='0' c3='1' c4='0' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_LPSI'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='24.5' />
+ <row2 c1='0' c2='1' c3='0' c4='-60' />
+ <row3 c1='0' c2='0' c3='1' c4='34.9948' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='LHx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LHx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-0.872665' hi='1.65806' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='LHz_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LHy_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.349066' hi='1.13446' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='LKsegment_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LHz_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='0' z='1'/>
+ <limits lo='-0.785398' hi='0.785398' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='LHy_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LKsegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='-245' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='-1'/>
+ <limits lo='0' hi='245' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.14'/>
+ <CoM location='Custom' x='-2.75474e-12' y='1.04413e-05' z='121.6'/>
+ <InertiaMatrix>
+ <row1 c1='3.0625' c2='0' c3='0'/>
+ <row2 c1='0' c2='3.0625' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.636804'/>
+ </InertiaMatrix>
+ </Physics>
+ <Visualization>
+ <File type='inventor'>./models/LKsegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_LKNE'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-26.7885' />
+ <row2 c1='0' c2='1' c3='0' c4='3.33725e-08' />
+ <row3 c1='0' c2='0' c3='1' c4='1.58173' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_LTHI'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-32.78' />
+ <row2 c1='0' c2='1' c3='0' c4='5.71972e-05' />
+ <row3 c1='0' c2='0' c3='1' c4='61.28' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='LKx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LKx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-2.26893' hi='0' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='LAsegment_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LMrot_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='0.987688' c2='0.151104' c3='-0.0404882' c4='0.6' />
+ <row2 c1='-0.156434' c2='0.954034' c3='-0.255633' c4='23.8' />
+ <row3 c1='0' c2='0.258819' c3='0.965926' c4='-18.7' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.261799' hi='0.261799' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LMrot_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_LMT1'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='17.7316' />
+ <row2 c1='0' c2='1' c3='0' c4='51.4544' />
+ <row3 c1='0' c2='0' c3='1' c4='-12.24' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_LMT5'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-36.2073' />
+ <row2 c1='0' c2='1' c3='0' c4='42.4769' />
+ <row3 c1='0' c2='0' c3='1' c4='-12.7363' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='LFx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LSCsegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-87' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='0' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='-1' y='0' z='0'/>
+ <limits lo='0' hi='87' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LSCsegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_LBAK'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='40.2164' />
+ <row2 c1='0' c2='1' c3='0' c4='-51.365' />
+ <row3 c1='0' c2='0' c3='1' c4='7.07746' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='LSCx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LSCx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='0' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='LSCz_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LSCy_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.349066' hi='0.349066' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='LSsegment_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LSCz_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='0' z='1'/>
+ <limits lo='-0.349066' hi='0.349066' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='LSCy_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LSsegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-23' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='0' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='-1' y='0' z='0'/>
+ <limits lo='0' hi='23' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.021'/>
+ <CoM location='Custom' x='10' y='4.16334e-14' z='0'/>
+ <InertiaMatrix>
+ <row1 c1='0.0298116' c2='0' c3='0'/>
+ <row2 c1='0' c2='0.0063504' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.0298116'/>
+ </InertiaMatrix>
+ </Physics>
+ <Visualization>
+ <File type='inventor'>./models/LSsegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_LSHO'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-11.0491' />
+ <row2 c1='0' c2='1' c3='0' c4='-1.13565' />
+ <row3 c1='0' c2='0' c3='1' c4='6.38902' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='LSx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LSx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-1.22173' hi='3.31613' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='LSz_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LSy_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='0' hi='2.79253' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='LEsegment_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LSz_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='0' z='1'/>
+ <limits lo='-1.22173' hi='1.0472' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='LSy_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LWsegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='-145' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='-1'/>
+ <limits lo='0' hi='145' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.016'/>
+ <CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='82.6'/>
+ <InertiaMatrix>
+ <row1 c1='0.0319821' c2='0' c3='0'/>
+ <row2 c1='0' c2='0.0340787' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.0065229'/>
+ </InertiaMatrix>
+ </Physics>
+ <Visualization>
+ <File type='inventor'>./models/LWsegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_LFRA'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-15.4413' />
+ <row2 c1='0' c2='1' c3='0' c4='0.93' />
+ <row3 c1='0' c2='0' c3='1' c4='63.5425' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_LWPS'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-2.49894' />
+ <row2 c1='0' c2='1' c3='0' c4='-15.9993' />
+ <row3 c1='0' c2='0' c3='1' c4='0.167504' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_LWTS'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-2.49895' />
+ <row2 c1='0' c2='1' c3='0' c4='14.3563' />
+ <row3 c1='0' c2='0' c3='1' c4='0.167504' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='LWx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LWx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-0.523599' hi='0.349066' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='LWy_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LWy_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-1.22173' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LWy_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='LeftHandSegment_joint'/>
+ <Child name='LeftFingerJoint50y_joint'/>
+ <Child name='LeftFingerJoint31x_joint'/>
+ <Child name='LeftFingerJoint21x_joint'/>
+ <Child name='LeftFingerJoint11z_joint'/>
+ <Child name='LeftFingerJoint40y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftEyeSegmentX_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-15' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='0' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='-1' y='0' z='0'/>
+ <limits lo='0' hi='15' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='LeftEyeSegmentY_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftEyeSegmentY_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='30' />
+ <row3 c1='0' c2='0' c3='1' c4='0' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='1' z='0'/>
+ <limits lo='0' hi='30' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftEyeSegmentY_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint11y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='0.707107' c3='0.707107' c4='0' />
+ <row3 c1='0' c2='-0.707107' c3='0.707107' c4='0' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-0.785398' hi='0.785398' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftFingerJoint11y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='LeftFingerJoint12y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint11z_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='-1' c2='0' c3='-1.50996e-07' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='10.584' />
+ <row3 c1='1.50996e-07' c2='0' c3='-1' c4='-7.884' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='0' y='0' z='1'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='LeftFingerJoint11y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint12y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='21.168' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftFingerJoint12y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='LeftFingerJoint13y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint13y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='17.064' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftFingerJoint13y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint21x_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='7.54979e-08' c2='-1' c3='8.74228e-08' c4='0' />
+ <row2 c1='-1' c2='-7.54979e-08' c3='-8.74228e-08' c4='13.554' />
+ <row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-48.276' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.785398' hi='0.785398' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='LeftFingerJoint21y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint21y_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftFingerJoint21y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='LeftFingerJoint22y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint22y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='26.46' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftFingerJoint22y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='LeftFingerJoint23y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint23y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='15.444' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftFingerJoint23y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint31x_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='7.54979e-08' c2='-1' c3='8.74228e-08' c4='0' />
+ <row2 c1='-1' c2='-7.54979e-08' c3='-8.74228e-08' c4='0' />
+ <row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-48.168' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.785398' hi='0.785398' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='LeftFingerJoint31y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint31y_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftFingerJoint31y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='LeftFingerJoint32y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint32y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='28.728' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftFingerJoint32y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='LeftFingerJoint33y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint33y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='18.36' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftFingerJoint33y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint40y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='7.54979e-08' c2='-1' c3='8.74228e-08' c4='0' />
+ <row2 c1='-1' c2='-7.54979e-08' c3='-8.74228e-08' c4='-6.25' />
+ <row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-8.75' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='0.0872665' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftFingerJoint40y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='LeftFingerJoint41x_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint41x_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='4.9' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='35.422' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.785398' hi='0.785398' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='LeftFingerJoint41y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint41y_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftFingerJoint41y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='LeftFingerJoint42y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint42y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='26.352' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftFingerJoint42y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='LeftFingerJoint43y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint43y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='17.82' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftFingerJoint43y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint50y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='7.54979e-08' c2='-1' c3='8.74228e-08' c4='0' />
+ <row2 c1='-1' c2='-7.54979e-08' c3='-8.74228e-08' c4='-12.88' />
+ <row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-9.77' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='0.174533' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftFingerJoint50y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='LeftFingerJoint51x_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint51x_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='8.8' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='29.8' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.785398' hi='0.785398' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='LeftFingerJoint51y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint51y_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftFingerJoint51y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='LeftFingerJoint52y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint52y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='22.032' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftFingerJoint52y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='LeftFingerJoint53y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFingerJoint53y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='12.636' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/LeftFingerJoint53y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ </RobotNode>
+
+
+ <RobotNode name='LeftFootHeight_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='-39' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='-1'/>
+ <limits lo='0' hi='39' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.013'/>
+ <CoM location='Custom' x='-8.35798e-08' y='25.225' z='19'/>
+ <InertiaMatrix>
+ <row1 c1='0.0036504' c2='0' c3='0'/>
+ <row2 c1='0' c2='0.0111794' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.0096393'/>
+ </InertiaMatrix>
+ </Physics>
+ </RobotNode>
+
+
+ <RobotNode name='LeftHandSegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='-108' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='-1'/>
+ <limits lo='0' hi='108' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.006'/>
+ <CoM location='Custom' x='-8.25728e-12' y='3.81383e-05' z='53.4'/>
+ <InertiaMatrix>
+ <row1 c1='0.0021869' c2='0' c3='0'/>
+ <row2 c1='0' c2='0.0033304' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.001283'/>
+ </InertiaMatrix>
+ </Physics>
+ <Visualization>
+ <File type='inventor'>./models/LeftHandSegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_LHPS'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-9.65197' />
+ <row2 c1='0' c2='1' c3='0' c4='-21.7232' />
+ <row3 c1='0' c2='0' c3='1' c4='78.9456' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_LHTS'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-10.3235' />
+ <row2 c1='0' c2='1' c3='0' c4='13.0487' />
+ <row3 c1='0' c2='0' c3='1' c4='69.6834' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_LIFD'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-7.41577' />
+ <row2 c1='0' c2='1' c3='0' c4='14.2213' />
+ <row3 c1='0' c2='0' c3='1' c4='14.536' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ </RobotNode>
+
+
+ <RobotNode name='MidHeadSegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='66' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='1'/>
+ <limits lo='0' hi='66' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='LeftEyeSegmentX_joint'/>
+ <Child name='RightEyeSegmentX_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RAsegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='-246' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='-1'/>
+ <limits lo='0' hi='246' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.04'/>
+ <CoM location='Custom' x='-3.88578e-13' y='1.04413e-05' z='139.5'/>
+ <InertiaMatrix>
+ <row1 c1='0.237419' c2='0' c3='0'/>
+ <row2 c1='0' c2='0.256481' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.040572'/>
+ </InertiaMatrix>
+ </Physics>
+ <Visualization>
+ <File type='inventor'>./models/RAsegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_RTIP'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='12.8313' />
+ <row2 c1='0' c2='1' c3='0' c4='18.51' />
+ <row3 c1='0' c2='0' c3='1' c4='177.87' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='RAx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RAx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-0.698132' hi='0.523599' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='RAz_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RAy_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.349066' hi='0.349066' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RAy_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_RANK'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='22.9' />
+ <row2 c1='0' c2='1' c3='0' c4='-4.19614e-07' />
+ <row3 c1='0' c2='0' c3='1' c4='-18.25' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_RHEE'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-0.460001' />
+ <row2 c1='0' c2='1' c3='0' c4='-33.2618' />
+ <row3 c1='0' c2='0' c3='1' c4='-15.4999' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='RightFootHeight_joint'/>
+ <Child name='RMrot_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RAz_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='0' z='1'/>
+ <limits lo='-0.523599' hi='0.523599' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='RAy_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='REsegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='-188' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='-1'/>
+ <limits lo='0' hi='188' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.027'/>
+ <CoM location='Custom' x='0.0203848' y='3.81383e-05' z='106'/>
+ <InertiaMatrix>
+ <row1 c1='0.0837755' c2='0' c3='0'/>
+ <row2 c1='0' c2='0.0940772' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.0287506'/>
+ </InertiaMatrix>
+ </Physics>
+ <Visualization>
+ <File type='inventor'>./models/REsegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_RAEL'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='1.54' />
+ <row2 c1='0' c2='1' c3='0' c4='-17.482' />
+ <row3 c1='0' c2='0' c3='1' c4='-2.20636' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_RAOL'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-12.5' />
+ <row2 c1='0' c2='1' c3='0' c4='-15.5' />
+ <row3 c1='0' c2='0' c3='1' c4='-1.86715' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_RUPA'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='19.8672' />
+ <row2 c1='0' c2='1' c3='0' c4='2.6444' />
+ <row3 c1='0' c2='0' c3='1' c4='126.53' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='REx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='REx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='2.79253' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='REz_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='REz_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='0' z='1'/>
+ <limits lo='-1.5708' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='RWsegment_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RFx_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='0.987688' c2='0.151104' c3='0.0404882' c4='8.8' />
+ <row2 c1='-0.156434' c2='0.954034' c3='0.255633' c4='53.7' />
+ <row3 c1='0' c2='-0.258819' c3='0.965926' c4='-14.3922' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-0.785398' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RFx_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_RTOE'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-15.3868' />
+ <row2 c1='0' c2='1' c3='0' c4='33.7525' />
+ <row3 c1='0' c2='0' c3='1' c4='-2.49873' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ </RobotNode>
+
+
+ <RobotNode name='RHsegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='52' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='0' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='1' y='0' z='0'/>
+ <limits lo='0' hi='52' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RHsegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_RASI'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='15.77' />
+ <row2 c1='0' c2='1' c3='0' c4='43.9811' />
+ <row3 c1='0' c2='0' c3='1' c4='34.9948' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_RHIP'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='45.15' />
+ <row2 c1='0' c2='1' c3='0' c4='3.33725e-08' />
+ <row3 c1='0' c2='0' c3='1' c4='0' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_RPSI'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-24.5' />
+ <row2 c1='0' c2='1' c3='0' c4='-60' />
+ <row3 c1='0' c2='0' c3='1' c4='34.9948' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='RHx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RHx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-0.872665' hi='1.65806' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='RHz_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RHy_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-1.13446' hi='0.349066' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='RKsegment_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RHz_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='0' z='1'/>
+ <limits lo='-0.785398' hi='0.785398' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='RHy_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RKsegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='-245' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='-1'/>
+ <limits lo='0' hi='245' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.14'/>
+ <CoM location='Custom' x='0.0456274' y='1.04413e-05' z='121.6'/>
+ <InertiaMatrix>
+ <row1 c1='3.0625' c2='0' c3='0'/>
+ <row2 c1='0' c2='3.0625' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.636804'/>
+ </InertiaMatrix>
+ </Physics>
+ <Visualization>
+ <File type='inventor'>./models/RKsegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_RKNE'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='26.793' />
+ <row2 c1='0' c2='1' c3='0' c4='3.33733e-08' />
+ <row3 c1='0' c2='0' c3='1' c4='1.58173' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_RTHI'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='39.81' />
+ <row2 c1='0' c2='1' c3='0' c4='4.6559e-05' />
+ <row3 c1='0' c2='0' c3='1' c4='140.46' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='RKx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RKx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-2.26893' hi='0' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='RAsegment_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RMrot_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='0.987688' c2='-0.151104' c3='0.0404882' c4='0.6' />
+ <row2 c1='0.156434' c2='0.954034' c3='-0.255633' c4='23.8' />
+ <row3 c1='0' c2='0.258819' c3='0.965926' c4='-18.7' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.261799' hi='0.261799' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RMrot_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_RMT1'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-18.9131' />
+ <row2 c1='0' c2='1' c3='0' c4='51.6351' />
+ <row3 c1='0' c2='0' c3='1' c4='-12.2884' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_RMT5'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='35.0239' />
+ <row2 c1='0' c2='1' c3='0' c4='42.6533' />
+ <row3 c1='0' c2='0' c3='1' c4='-12.7853' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='RFx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RSCsegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='87' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='0' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='1' y='0' z='0'/>
+ <limits lo='0' hi='87' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RSCsegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_RBAK'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-60.9917' />
+ <row2 c1='0' c2='1' c3='0' c4='-60.727' />
+ <row3 c1='0' c2='0' c3='1' c4='-48.1316' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='RSCx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RSCx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='0' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='RSCz_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RSCy_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.349066' hi='0.349066' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='RSsegment_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RSCz_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='0' z='1'/>
+ <limits lo='-0.349066' hi='0.349066' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='RSCy_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RSsegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='23' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='0' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='1' y='0' z='0'/>
+ <limits lo='0' hi='23' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.021'/>
+ <CoM location='Custom' x='-10' y='4.16334e-14' z='0'/>
+ <InertiaMatrix>
+ <row1 c1='0.0298116' c2='0' c3='0'/>
+ <row2 c1='0' c2='0.0063504' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.0298116'/>
+ </InertiaMatrix>
+ </Physics>
+ <Visualization>
+ <File type='inventor'>./models/RSsegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_RSHO'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='11.0476' />
+ <row2 c1='0' c2='1' c3='0' c4='-1.13565' />
+ <row3 c1='0' c2='0' c3='1' c4='6.38902' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='RSx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RSx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-1.22173' hi='3.31613' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='RSz_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RSy_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-2.79253' hi='0' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='REsegment_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RSz_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='0' z='1'/>
+ <limits lo='-1.0472' hi='1.22173' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='RSy_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RWsegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='-145' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='-1'/>
+ <limits lo='0' hi='145' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.016'/>
+ <CoM location='Custom' x='0.0203848' y='3.81383e-05' z='82.6'/>
+ <InertiaMatrix>
+ <row1 c1='0.0319821' c2='0' c3='0'/>
+ <row2 c1='0' c2='0.0340787' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.0065229'/>
+ </InertiaMatrix>
+ </Physics>
+ <Visualization>
+ <File type='inventor'>./models/RWsegment_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Sensor type='position' name='MARKER_RFRA'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='15.4' />
+ <row2 c1='0' c2='1' c3='0' c4='0.930038' />
+ <row3 c1='0' c2='0' c3='1' c4='63.5425' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_RWPS'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='2.31349' />
+ <row2 c1='0' c2='1' c3='0' c4='-15.9993' />
+ <row3 c1='0' c2='0' c3='1' c4='0.167504' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_RWTS'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='2.31349' />
+ <row2 c1='0' c2='1' c3='0' c4='14.3563' />
+ <row3 c1='0' c2='0' c3='1' c4='0.167504' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='RWx_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RWx_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-0.523599' hi='0.349066' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <CollisionModel>
+ <Primitives>
+ <Box width="10" height="10" depth="10"/>
+ </Primitives>
+ </CollisionModel>
+ <Child name='RWy_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RWy_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-1.5708' hi='1.22173' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RWy_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='RightFingerJoint21x_joint'/>
+ <Child name='RightHandSegment_joint'/>
+ <Child name='RightFingerJoint11z_joint'/>
+ <Child name='RightFingerJoint31x_joint'/>
+ <Child name='RightFingerJoint40y_joint'/>
+ <Child name='RightFingerJoint50y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightEyeSegmentX_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='15' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='0' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='1' y='0' z='0'/>
+ <limits lo='0' hi='15' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='RightEyeSegmentY_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightEyeSegmentY_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='30' />
+ <row3 c1='0' c2='0' c3='1' c4='0' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='1' z='0'/>
+ <limits lo='0' hi='30' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightEyeSegmentY_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint11y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='-1' c2='1.0677e-07' c3='-1.0677e-07' c4='0' />
+ <row2 c1='0' c2='0.707107' c3='0.707107' c4='0' />
+ <row3 c1='1.50996e-07' c2='0.707107' c3='-0.707107' c4='0' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='-0.785398' hi='0.785398' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightFingerJoint11y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='RightFingerJoint12y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint11z_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='10.584' />
+ <row3 c1='0' c2='0' c3='1' c4='-7.884' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='0' y='0' z='1'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='RightFingerJoint11y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint12y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='21.168' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightFingerJoint12y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='RightFingerJoint13y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint13y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='17.064' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightFingerJoint13y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint21x_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='7.54979e-08' c2='1' c3='-8.74228e-08' c4='0' />
+ <row2 c1='1' c2='-7.54979e-08' c3='8.74228e-08' c4='13.554' />
+ <row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-48.3' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.785398' hi='0.785398' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='RightFingerJoint21y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint21y_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightFingerJoint21y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='RightFingerJoint22y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint22y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='26.46' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightFingerJoint22y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='RightFingerJoint23y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint23y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='15.444' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightFingerJoint23y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint31x_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='7.54979e-08' c2='1' c3='-8.74228e-08' c4='0' />
+ <row2 c1='1' c2='-7.54979e-08' c3='8.74228e-08' c4='0' />
+ <row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-48.168' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.785398' hi='0.785398' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='RightFingerJoint31y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint31y_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightFingerJoint31y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='RightFingerJoint32y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint32y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='28.728' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightFingerJoint32y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='RightFingerJoint33y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint33y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='18.36' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightFingerJoint33y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint40y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='7.54979e-08' c2='1' c3='-8.74228e-08' c4='0' />
+ <row2 c1='1' c2='-7.54979e-08' c3='8.74228e-08' c4='-6.25' />
+ <row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-8.75' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='0.0872665' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightFingerJoint40y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='RightFingerJoint41x_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint41x_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-4.9' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='35.422' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.785398' hi='0.785398' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='RightFingerJoint41y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint41y_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightFingerJoint41y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='RightFingerJoint42y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint42y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='26.352' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightFingerJoint42y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='RightFingerJoint43y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint43y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='17.82' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightFingerJoint43y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint50y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='7.54979e-08' c2='1' c3='-8.74228e-08' c4='0' />
+ <row2 c1='1' c2='-7.54979e-08' c3='8.74228e-08' c4='-12.88' />
+ <row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-9.97' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='0.174533' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightFingerJoint50y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='RightFingerJoint51x_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint51x_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-8.828' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='29.774' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='0' y='1' z='0'/>
+ <limits lo='-0.785398' hi='0.785398' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='RightFingerJoint51y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint51y_joint'>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightFingerJoint51y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='RightFingerJoint52y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint52y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='22.032' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightFingerJoint52y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ <Child name='RightFingerJoint53y_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFingerJoint53y_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='12.636' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='revolute'>
+ <axis x='1' y='0' z='0'/>
+ <limits lo='0' hi='1.5708' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Visualization>
+ <File type='inventor'>./models/RightFingerJoint53y_joint_visu.wrl</File>
+ <UseAsCollisionModel/></Visualization>
+ </RobotNode>
+
+
+ <RobotNode name='RightFootHeight_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='-39' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='-1'/>
+ <limits lo='0' hi='39' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.013'/>
+ <CoM location='Custom' x='-8.35776e-08' y='25.225' z='19'/>
+ <InertiaMatrix>
+ <row1 c1='0.0036504' c2='0' c3='0'/>
+ <row2 c1='0' c2='0.0111794' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.0096393'/>
+ </InertiaMatrix>
+ </Physics>
+ <Child name='RightFootLength_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='RightFootLength_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='68' />
+ <row3 c1='0' c2='0' c3='1' c4='0' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='1' z='0'/>
+ <limits lo='0' hi='68' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ </RobotNode>
+
+
+ <RobotNode name='RightHandSegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='-108' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='-1'/>
+ <limits lo='0' hi='108' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.006'/>
+ <CoM location='Custom' x='0.0203848' y='3.81383e-05' z='53.4'/>
+ <InertiaMatrix>
+ <row1 c1='0.0021869' c2='0' c3='0'/>
+ <row2 c1='0' c2='0.0033304' c3='0'/>
+ <row3 c1='0' c2='0' c3='0.001283'/>
+ </InertiaMatrix>
+ </Physics>
+ <Sensor type='position' name='MARKER_RHPS'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='8.67729' />
+ <row2 c1='0' c2='1' c3='0' c4='-22.2095' />
+ <row3 c1='0' c2='0' c3='1' c4='76.666' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_RHTS'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='9.3514' />
+ <row2 c1='0' c2='1' c3='0' c4='14.9125' />
+ <row3 c1='0' c2='0' c3='1' c4='69.1177' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_RIFD'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='7.77317' />
+ <row2 c1='0' c2='1' c3='0' c4='13.1986' />
+ <row3 c1='0' c2='0' c3='1' c4='15.0756' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ </RobotNode>
+
+
+ <RobotNode name='collarSegment_joint'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='0' />
+ <row3 c1='0' c2='0' c3='1' c4='188' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ <Joint type='prismatic'>
+ <translationdirection x='0' y='0' z='1'/>
+ <limits lo='0' hi='188' units='mm'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Physics>
+ <Mass unit='kg' value='0.17'/>
+ <CoM location='Custom' x='0' y='3.33729e-08' z='-33.84'/>
+ <InertiaMatrix>
+ <row1 c1='6.37245' c2='0' c3='0'/>
+ <row2 c1='0' c2='5.09635' c3='0'/>
+ <row3 c1='0' c2='0' c3='4.22532'/>
+ </InertiaMatrix>
+ </Physics>
+ <Sensor type='position' name='MARKER_STRN'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='-0.205368' />
+ <row2 c1='0' c2='1' c3='0' c4='60.7288' />
+ <row3 c1='0' c2='0' c3='1' c4='-80.5236' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Sensor type='position' name='MARKER_T10'>
+ <Transform>
+ <Matrix4x4 units='mm'>
+ <row1 c1='1' c2='0' c3='0' c4='0' />
+ <row2 c1='0' c2='1' c3='0' c4='-62.5189' />
+ <row3 c1='0' c2='0' c3='1' c4='-111.766' />
+ <row4 c1='0' c2='0' c3='0' c4='1' />
+ </Matrix4x4>
+ </Transform>
+ </Sensor>
+ <Child name='LSCsegment_joint'/>
+ <Child name='RSCsegment_joint'/>
+ <Child name='BLNsegment_joint'/>
+ </RobotNode>
+
+
+ <RobotNode name='root_joint'>
+ <Joint type='revolute'>
+ <axis x='0' y='0' z='1'/>
+ <limits lo='0' hi='0' units='radian'/>
+ <MaxAcceleration value='-1'/>
+ <MaxVelocity value='-1'/>
+ <MaxTorque value='-1'/>
+ </Joint>
+ <Child name='BPSegment_joint'/>
+ <Child name='LHsegment_joint'/>
+ <Child name='RHsegment_joint'/>
+ </RobotNode>
+
+
+
+ <RobotNodeSet name='All'>
+ <Node name='root_joint'/>
+ <Node name='BPSegment_joint'/>
+ <Node name='BPx_joint'/>
+ <Node name='BPz_joint'/>
+ <Node name='BPy_joint'/>
+ <Node name='BTSegment_joint'/>
+ <Node name='BTx_joint'/>
+ <Node name='BTz_joint'/>
+ <Node name='BTy_joint'/>
+ <Node name='collarSegment_joint'/>
+ <Node name='LSCsegment_joint'/>
+ <Node name='LSCx_joint'/>
+ <Node name='LSCz_joint'/>
+ <Node name='LSCy_joint'/>
+ <Node name='LSsegment_joint'/>
+ <Node name='LSx_joint'/>
+ <Node name='LSz_joint'/>
+ <Node name='LSy_joint'/>
+ <Node name='LEsegment_joint'/>
+ <Node name='LEx_joint'/>
+ <Node name='LEz_joint'/>
+ <Node name='LWsegment_joint'/>
+ <Node name='LWx_joint'/>
+ <Node name='LWy_joint'/>
+ <Node name='LeftHandSegment_joint'/>
+ <Node name='LeftFingerJoint50y_joint'/>
+ <Node name='LeftFingerJoint51x_joint'/>
+ <Node name='LeftFingerJoint51y_joint'/>
+ <Node name='LeftFingerJoint52y_joint'/>
+ <Node name='LeftFingerJoint53y_joint'/>
+ <Node name='LeftFingerJoint31x_joint'/>
+ <Node name='LeftFingerJoint31y_joint'/>
+ <Node name='LeftFingerJoint32y_joint'/>
+ <Node name='LeftFingerJoint33y_joint'/>
+ <Node name='LeftFingerJoint21x_joint'/>
+ <Node name='LeftFingerJoint21y_joint'/>
+ <Node name='LeftFingerJoint22y_joint'/>
+ <Node name='LeftFingerJoint23y_joint'/>
+ <Node name='LeftFingerJoint11z_joint'/>
+ <Node name='LeftFingerJoint11y_joint'/>
+ <Node name='LeftFingerJoint12y_joint'/>
+ <Node name='LeftFingerJoint13y_joint'/>
+ <Node name='LeftFingerJoint40y_joint'/>
+ <Node name='LeftFingerJoint41x_joint'/>
+ <Node name='LeftFingerJoint41y_joint'/>
+ <Node name='LeftFingerJoint42y_joint'/>
+ <Node name='LeftFingerJoint43y_joint'/>
+ <Node name='RSCsegment_joint'/>
+ <Node name='RSCx_joint'/>
+ <Node name='RSCz_joint'/>
+ <Node name='RSCy_joint'/>
+ <Node name='RSsegment_joint'/>
+ <Node name='RSx_joint'/>
+ <Node name='RSz_joint'/>
+ <Node name='RSy_joint'/>
+ <Node name='REsegment_joint'/>
+ <Node name='REx_joint'/>
+ <Node name='REz_joint'/>
+ <Node name='RWsegment_joint'/>
+ <Node name='RWx_joint'/>
+ <Node name='RWy_joint'/>
+ <Node name='RightFingerJoint21x_joint'/>
+ <Node name='RightFingerJoint21y_joint'/>
+ <Node name='RightFingerJoint22y_joint'/>
+ <Node name='RightFingerJoint23y_joint'/>
+ <Node name='RightHandSegment_joint'/>
+ <Node name='RightFingerJoint11z_joint'/>
+ <Node name='RightFingerJoint11y_joint'/>
+ <Node name='RightFingerJoint12y_joint'/>
+ <Node name='RightFingerJoint13y_joint'/>
+ <Node name='RightFingerJoint31x_joint'/>
+ <Node name='RightFingerJoint31y_joint'/>
+ <Node name='RightFingerJoint32y_joint'/>
+ <Node name='RightFingerJoint33y_joint'/>
+ <Node name='RightFingerJoint40y_joint'/>
+ <Node name='RightFingerJoint41x_joint'/>
+ <Node name='RightFingerJoint41y_joint'/>
+ <Node name='RightFingerJoint42y_joint'/>
+ <Node name='RightFingerJoint43y_joint'/>
+ <Node name='RightFingerJoint50y_joint'/>
+ <Node name='RightFingerJoint51x_joint'/>
+ <Node name='RightFingerJoint51y_joint'/>
+ <Node name='RightFingerJoint52y_joint'/>
+ <Node name='RightFingerJoint53y_joint'/>
+ <Node name='BLNsegment_joint'/>
+ <Node name='BLNx_joint'/>
+ <Node name='BLNz_joint'/>
+ <Node name='BLNy_joint'/>
+ <Node name='BUNsegment_joint'/>
+ <Node name='BUNx_joint'/>
+ <Node name='BUNz_joint'/>
+ <Node name='BUNy_joint'/>
+ <Node name='MidHeadSegment_joint'/>
+ <Node name='LeftEyeSegmentX_joint'/>
+ <Node name='LeftEyeSegmentY_joint'/>
+ <Node name='RightEyeSegmentX_joint'/>
+ <Node name='RightEyeSegmentY_joint'/>
+ <Node name='HeadSegment_joint'/>
+ <Node name='LHsegment_joint'/>
+ <Node name='LHx_joint'/>
+ <Node name='LHz_joint'/>
+ <Node name='LHy_joint'/>
+ <Node name='LKsegment_joint'/>
+ <Node name='LKx_joint'/>
+ <Node name='LAsegment_joint'/>
+ <Node name='LAx_joint'/>
+ <Node name='LAz_joint'/>
+ <Node name='LAy_joint'/>
+ <Node name='LeftFootHeight_joint'/>
+ <Node name='LMrot_joint'/>
+ <Node name='LFx_joint'/>
+ <Node name='RHsegment_joint'/>
+ <Node name='RHx_joint'/>
+ <Node name='RHz_joint'/>
+ <Node name='RHy_joint'/>
+ <Node name='RKsegment_joint'/>
+ <Node name='RKx_joint'/>
+ <Node name='RAsegment_joint'/>
+ <Node name='RAx_joint'/>
+ <Node name='RAz_joint'/>
+ <Node name='RAy_joint'/>
+ <Node name='RightFootHeight_joint'/>
+ <Node name='RightFootLength_joint'/>
+ <Node name='RMrot_joint'/>
+ <Node name='RFx_joint'/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name='Joints_Prismatic'>
+ <Node name='BPSegment_joint'/>
+ <Node name='BTSegment_joint'/>
+ <Node name='collarSegment_joint'/>
+ <Node name='LSCsegment_joint'/>
+ <Node name='LSsegment_joint'/>
+ <Node name='LEsegment_joint'/>
+ <Node name='LWsegment_joint'/>
+ <Node name='LeftHandSegment_joint'/>
+ <Node name='RSCsegment_joint'/>
+ <Node name='RSsegment_joint'/>
+ <Node name='REsegment_joint'/>
+ <Node name='RWsegment_joint'/>
+ <Node name='RightHandSegment_joint'/>
+ <Node name='BLNsegment_joint'/>
+ <Node name='BUNsegment_joint'/>
+ <Node name='MidHeadSegment_joint'/>
+ <Node name='LeftEyeSegmentX_joint'/>
+ <Node name='LeftEyeSegmentY_joint'/>
+ <Node name='RightEyeSegmentX_joint'/>
+ <Node name='RightEyeSegmentY_joint'/>
+ <Node name='HeadSegment_joint'/>
+ <Node name='LHsegment_joint'/>
+ <Node name='LKsegment_joint'/>
+ <Node name='LAsegment_joint'/>
+ <Node name='LeftFootHeight_joint'/>
+ <Node name='RHsegment_joint'/>
+ <Node name='RKsegment_joint'/>
+ <Node name='RAsegment_joint'/>
+ <Node name='RightFootHeight_joint'/>
+ <Node name='RightFootLength_joint'/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name='Joints_Revolute'>
+ <Node name='root_joint'/>
+ <Node name='BPx_joint'/>
+ <Node name='BPz_joint'/>
+ <Node name='BPy_joint'/>
+ <Node name='BTx_joint'/>
+ <Node name='BTz_joint'/>
+ <Node name='BTy_joint'/>
+ <Node name='LSCx_joint'/>
+ <Node name='LSCz_joint'/>
+ <Node name='LSCy_joint'/>
+ <Node name='LSx_joint'/>
+ <Node name='LSz_joint'/>
+ <Node name='LSy_joint'/>
+ <Node name='LEx_joint'/>
+ <Node name='LEz_joint'/>
+ <Node name='LWx_joint'/>
+ <Node name='LWy_joint'/>
+ <Node name='LeftFingerJoint50y_joint'/>
+ <Node name='LeftFingerJoint51x_joint'/>
+ <Node name='LeftFingerJoint51y_joint'/>
+ <Node name='LeftFingerJoint52y_joint'/>
+ <Node name='LeftFingerJoint53y_joint'/>
+ <Node name='LeftFingerJoint31x_joint'/>
+ <Node name='LeftFingerJoint31y_joint'/>
+ <Node name='LeftFingerJoint32y_joint'/>
+ <Node name='LeftFingerJoint33y_joint'/>
+ <Node name='LeftFingerJoint21x_joint'/>
+ <Node name='LeftFingerJoint21y_joint'/>
+ <Node name='LeftFingerJoint22y_joint'/>
+ <Node name='LeftFingerJoint23y_joint'/>
+ <Node name='LeftFingerJoint11z_joint'/>
+ <Node name='LeftFingerJoint11y_joint'/>
+ <Node name='LeftFingerJoint12y_joint'/>
+ <Node name='LeftFingerJoint13y_joint'/>
+ <Node name='LeftFingerJoint40y_joint'/>
+ <Node name='LeftFingerJoint41x_joint'/>
+ <Node name='LeftFingerJoint41y_joint'/>
+ <Node name='LeftFingerJoint42y_joint'/>
+ <Node name='LeftFingerJoint43y_joint'/>
+ <Node name='RSCx_joint'/>
+ <Node name='RSCz_joint'/>
+ <Node name='RSCy_joint'/>
+ <Node name='RSx_joint'/>
+ <Node name='RSz_joint'/>
+ <Node name='RSy_joint'/>
+ <Node name='REx_joint'/>
+ <Node name='REz_joint'/>
+ <Node name='RWx_joint'/>
+ <Node name='RWy_joint'/>
+ <Node name='RightFingerJoint21x_joint'/>
+ <Node name='RightFingerJoint21y_joint'/>
+ <Node name='RightFingerJoint22y_joint'/>
+ <Node name='RightFingerJoint23y_joint'/>
+ <Node name='RightFingerJoint11z_joint'/>
+ <Node name='RightFingerJoint11y_joint'/>
+ <Node name='RightFingerJoint12y_joint'/>
+ <Node name='RightFingerJoint13y_joint'/>
+ <Node name='RightFingerJoint31x_joint'/>
+ <Node name='RightFingerJoint31y_joint'/>
+ <Node name='RightFingerJoint32y_joint'/>
+ <Node name='RightFingerJoint33y_joint'/>
+ <Node name='RightFingerJoint40y_joint'/>
+ <Node name='RightFingerJoint41x_joint'/>
+ <Node name='RightFingerJoint41y_joint'/>
+ <Node name='RightFingerJoint42y_joint'/>
+ <Node name='RightFingerJoint43y_joint'/>
+ <Node name='RightFingerJoint50y_joint'/>
+ <Node name='RightFingerJoint51x_joint'/>
+ <Node name='RightFingerJoint51y_joint'/>
+ <Node name='RightFingerJoint52y_joint'/>
+ <Node name='RightFingerJoint53y_joint'/>
+ <Node name='BLNx_joint'/>
+ <Node name='BLNz_joint'/>
+ <Node name='BLNy_joint'/>
+ <Node name='BUNx_joint'/>
+ <Node name='BUNz_joint'/>
+ <Node name='BUNy_joint'/>
+ <Node name='LHx_joint'/>
+ <Node name='LHz_joint'/>
+ <Node name='LHy_joint'/>
+ <Node name='LKx_joint'/>
+ <Node name='LAx_joint'/>
+ <Node name='LAz_joint'/>
+ <Node name='LAy_joint'/>
+ <Node name='LMrot_joint'/>
+ <Node name='LFx_joint'/>
+ <Node name='RHx_joint'/>
+ <Node name='RHz_joint'/>
+ <Node name='RHy_joint'/>
+ <Node name='RKx_joint'/>
+ <Node name='RAx_joint'/>
+ <Node name='RAz_joint'/>
+ <Node name='RAy_joint'/>
+ <Node name='RMrot_joint'/>
+ <Node name='RFx_joint'/>
+ </RobotNodeSet>
+
+
+
+ <RobotNodeSet name='MMMJoints'>
+ <Node name='root_joint'/>
+ <Node name='BPx_joint'/>
+ <Node name='BPz_joint'/>
+ <Node name='BPy_joint'/>
+ <Node name='BTx_joint'/>
+ <Node name='BTz_joint'/>
+ <Node name='BTy_joint'/>
+ <Node name='LSCx_joint'/>
+ <Node name='LSCz_joint'/>
+ <Node name='LSCy_joint'/>
+ <Node name='LSx_joint'/>
+ <Node name='LSz_joint'/>
+ <Node name='LSy_joint'/>
+ <Node name='LEx_joint'/>
+ <Node name='LEz_joint'/>
+ <Node name='LWx_joint'/>
+ <Node name='LWy_joint'/>
+ <Node name='RSCx_joint'/>
+ <Node name='RSCz_joint'/>
+ <Node name='RSCy_joint'/>
+ <Node name='RSx_joint'/>
+ <Node name='RSz_joint'/>
+ <Node name='RSy_joint'/>
+ <Node name='REx_joint'/>
+ <Node name='REz_joint'/>
+ <Node name='RWx_joint'/>
+ <Node name='RWy_joint'/>
+ <Node name='BLNx_joint'/>
+ <Node name='BLNz_joint'/>
+ <Node name='BLNy_joint'/>
+ <Node name='BUNx_joint'/>
+ <Node name='BUNz_joint'/>
+ <Node name='BUNy_joint'/>
+ <Node name='LHx_joint'/>
+ <Node name='LHz_joint'/>
+ <Node name='LHy_joint'/>
+ <Node name='LKx_joint'/>
+ <Node name='LAx_joint'/>
+ <Node name='LAz_joint'/>
+ <Node name='LAy_joint'/>
+ <Node name='LMrot_joint'/>
+ <Node name='LFx_joint'/>
+ <Node name='RHx_joint'/>
+ <Node name='RHz_joint'/>
+ <Node name='RHy_joint'/>
+ <Node name='RKx_joint'/>
+ <Node name='RAx_joint'/>
+ <Node name='RAz_joint'/>
+ <Node name='RAy_joint'/>
+ <Node name='RMrot_joint'/>
+ <Node name='RFx_joint'/>
+ </RobotNodeSet>
+
+
+ <RobotNodeSet name='LeftHipArm' tcp='LeftHandSegment_joint'>
+ <Node name='BTx_joint'/>
+ <Node name='BTz_joint'/>
+ <Node name='BTy_joint'/>
+ <Node name='LSCx_joint'/>
+ <Node name='LSCz_joint'/>
+ <Node name='LSCy_joint'/>
+ <Node name='LSx_joint'/>
+ <Node name='LSz_joint'/>
+ <Node name='LSy_joint'/>
+ <Node name='LEx_joint'/>
+ <Node name='LEz_joint'/>
+ <Node name='LWx_joint'/>
+ <Node name='LWy_joint'/>
+ </RobotNodeSet>
+
+
+
+ <RobotNodeSet name='LeftArm' tcp='LeftHandSegment_joint'>
+ <Node name='LSCx_joint'/>
+ <Node name='LSCz_joint'/>
+ <Node name='LSCy_joint'/>
+ <Node name='LSx_joint'/>
+ <Node name='LSz_joint'/>
+ <Node name='LSy_joint'/>
+ <Node name='LEx_joint'/>
+ <Node name='LEz_joint'/>
+ <Node name='LWx_joint'/>
+ <Node name='LWy_joint'/>
+ </RobotNodeSet>
+
+
+ <RobotNodeSet name='RightHipArm' tcp='RightHandSegment_joint'>
+ <Node name='BTx_joint'/>
+ <Node name='BTz_joint'/>
+ <Node name='BTy_joint'/>
+ <Node name='RSCx_joint'/>
+ <Node name='RSCz_joint'/>
+ <Node name='RSCy_joint'/>
+ <Node name='RSx_joint'/>
+ <Node name='RSz_joint'/>
+ <Node name='RSy_joint'/>
+ <Node name='REx_joint'/>
+ <Node name='REz_joint'/>
+ <Node name='RWx_joint'/>
+ <Node name='RWy_joint'/>
+ </RobotNodeSet>
+
+ <RobotNodeSet name='RightArm' tcp='RightHandSegment_joint'>
+ <Node name='RSCx_joint'/>
+ <Node name='RSCz_joint'/>
+ <Node name='RSCy_joint'/>
+ <Node name='RSx_joint'/>
+ <Node name='RSz_joint'/>
+ <Node name='RSy_joint'/>
+ <Node name='REx_joint'/>
+ <Node name='REz_joint'/>
+ <Node name='RWx_joint'/>
+ <Node name='RWy_joint'/>
+ </RobotNodeSet>
+
+</Robot>
diff --git a/data/RobotAPI/robots/MMM/models/BTSegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/BTSegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..269d394e12969c65df64c25e8108d2816d032192
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/BTSegment_joint_visu.wrl
@@ -0,0 +1,2006 @@
+#VRML V2.0 utf8
+
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diff --git a/data/RobotAPI/robots/MMM/models/BTy_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/BTy_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..69a5c5e76ee394aff31035a98af112c62cd49bb8
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/BTy_joint_visu.wrl
@@ -0,0 +1,1580 @@
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diff --git a/data/RobotAPI/robots/MMM/models/BUNsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/BUNsegment_joint_visu.wrl
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index 0000000000000000000000000000000000000000..37502796f16ae10304402b53c7d5ad1e3bc55dea
--- /dev/null
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diff --git a/data/RobotAPI/robots/MMM/models/HeadSegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/HeadSegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..0bb493ece141d35d883d50680190a755a08b7439
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/HeadSegment_joint_visu.wrl
@@ -0,0 +1,1865 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LAsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LAsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..03c28aafeb37f5e02ac99fbc9912990b608b053f
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LAsegment_joint_visu.wrl
@@ -0,0 +1,3633 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LAy_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LAy_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..d3730736222a06bfca5b4dfff6e9cae9e5e5b664
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LAy_joint_visu.wrl
@@ -0,0 +1,1182 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LFx_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LFx_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f5f1488d5c3949440c9ff0056103b67a6fddfd36
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LFx_joint_visu.wrl
@@ -0,0 +1,760 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LHsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LHsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..b50961f2e14fd5f2de00503d1e373edec878f8e2
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LHsegment_joint_visu.wrl
@@ -0,0 +1,577 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LKsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LKsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..4bcd5f176b2efb22a65e20e0205115d33491c932
--- /dev/null
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@@ -0,0 +1,5876 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LMrot_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LMrot_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..44aace243d1dcc9f074a49dd49ccf7f6b9200c73
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LMrot_joint_visu.wrl
@@ -0,0 +1,2033 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LSCsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LSCsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f61777e7e186160ef47dbda3f8f3de7946136c10
--- /dev/null
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@@ -0,0 +1,2243 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LWsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LWsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..03904f44beaec11bc2178b23f62b4eedb96e9113
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LWsegment_joint_visu.wrl
@@ -0,0 +1,2209 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LWy_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LWy_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..79230eb7743eebe34c52aaaa319c258c3899f17b
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LWy_joint_visu.wrl
@@ -0,0 +1,6560 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftEyeSegmentY_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftEyeSegmentY_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..360d564f37861a12f584001e69f6cac07be145a0
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftEyeSegmentY_joint_visu.wrl
@@ -0,0 +1,1332 @@
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+ }
+ normal
+ DEF _+1 Normal {
+ vector [ ]
+
+ }
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint11y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint11y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a31153375175d9f5adec2ae3d6bb8cc2f7da0dd5
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint11y_joint_visu.wrl
@@ -0,0 +1,1689 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint12y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint12y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..0e26cef1df44c2b65472619e9b947c2d545e8370
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint12y_joint_visu.wrl
@@ -0,0 +1,1593 @@
+#VRML V2.0 utf8
+
+
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint13y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint13y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..5ac88a48701319942c8baeb5f984d2bcca8356ee
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint13y_joint_visu.wrl
@@ -0,0 +1,254 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint21y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint21y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..761a4c27e98bf5115bf1decbaa1da7636e7c7ed2
--- /dev/null
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint22y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint22y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..9caec328ec39fe250ac11add197f51292cd97040
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint22y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint23y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint23y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e027e63256769b93111d2ff885c5476fd4c250f9
--- /dev/null
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint31y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint31y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..9756e737aabaed731f19b07c7253f9caba84646c
--- /dev/null
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint32y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint32y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..b8569f35554a342bb233f86f121adda61d1f5a49
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint32y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint33y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint33y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a656178df6631137793bd660bb529579106ea1d2
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint33y_joint_visu.wrl
@@ -0,0 +1,254 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint40y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint40y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..9f59fdfea5f242059d81880b97214876d9790bbd
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint40y_joint_visu.wrl
@@ -0,0 +1,1320 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint41y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint41y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..fb4e2a8c1474eafd08b44c0e3e73eae556e643c9
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint41y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint42y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint42y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e9fb3b7718718d637e7459c7f9e488bf83e466c4
--- /dev/null
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint43y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint43y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c5be48d11320ace7b1a61d55ce0f5cf1d2194915
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint43y_joint_visu.wrl
@@ -0,0 +1,254 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint50y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint50y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..25119badfa2147e244778b0beb08d1ae20718ba7
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint50y_joint_visu.wrl
@@ -0,0 +1,1320 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint51y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint51y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..d2c166a2fe2c30097886e74ed6f5f66cd2927b1c
--- /dev/null
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint52y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint52y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..4b44d1ff29f84a3edf36f928736dd22fa0f280cf
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint52y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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+
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint53y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftFingerJoint53y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..5cb73f14501dc9b7832634c8f44a2ae9060f677d
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint53y_joint_visu.wrl
@@ -0,0 +1,254 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftHandSegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/LeftHandSegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6bd34ee5f74e2bcf4a2edaf1ea5169257c947401
--- /dev/null
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@@ -0,0 +1,688 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RAsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RAsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a76f7e2f1713aa4fac4f4c0f687d18fcec6c4738
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RAsegment_joint_visu.wrl
@@ -0,0 +1,3633 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RAy_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RAy_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..88c03421faa8e96b661f256a535713aec935452c
--- /dev/null
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diff --git a/data/RobotAPI/robots/MMM/models/REsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/REsegment_joint_visu.wrl
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diff --git a/data/RobotAPI/robots/MMM/models/RFx_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RFx_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..3ede527d2c74091574964d3a937affc57bc84f6d
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RFx_joint_visu.wrl
@@ -0,0 +1,760 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RHsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RHsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..828cc7e936d1e273a9c909a056eeb1a2d562d43e
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RHsegment_joint_visu.wrl
@@ -0,0 +1,577 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RKsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RKsegment_joint_visu.wrl
new file mode 100644
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diff --git a/data/RobotAPI/robots/MMM/models/RMrot_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RMrot_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..89cb59316bd0e1bc9e89508972a3b1fd3a18c2ec
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RMrot_joint_visu.wrl
@@ -0,0 +1,2031 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RSCsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RSCsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..2ce167514e75bce8e660006a4dd5bccdd9280423
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RSCsegment_joint_visu.wrl
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diff --git a/data/RobotAPI/robots/MMM/models/RSsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RSsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..ebcee9c753c6f916b6fe2f553d8f61d345494f54
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RSsegment_joint_visu.wrl
@@ -0,0 +1,1154 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RWsegment_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RWsegment_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..de36a29791ae72f00b8063cacbbaee73ed75404f
--- /dev/null
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@@ -0,0 +1,2209 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RWy_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RWy_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..70bf3c24bc07f54daf1e3663c048b40a701da670
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RWy_joint_visu.wrl
@@ -0,0 +1,7187 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightEyeSegmentY_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightEyeSegmentY_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6059a4503930757d2bf26c28d54c40e896208c01
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightEyeSegmentY_joint_visu.wrl
@@ -0,0 +1,1332 @@
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+ 0 0 0.0099999905 ]
+
+ }
+ normal
+ DEF _+1 Normal {
+ vector [ ]
+
+ }
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint11y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint11y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c4968ecc6068f9c355b5b34d7288db8faa96468e
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint11y_joint_visu.wrl
@@ -0,0 +1,1689 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint12y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint12y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..803795ea720010430c845fe4faf60650426df8e1
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint12y_joint_visu.wrl
@@ -0,0 +1,1593 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint13y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint13y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..925f4e937c4b0ec57f7053aef31f59c32878a75f
--- /dev/null
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint21y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint21y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..03e616a392a4198dca4be6179e7deca9e170ffbc
--- /dev/null
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint22y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint22y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f3e301dbef844fae2b8ae2710a2526d9c9868435
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint22y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint23y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint23y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..ee3d0759a15eda603ed9f11ec2b6edb89eb08407
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint23y_joint_visu.wrl
@@ -0,0 +1,254 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint31y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint31y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..ea670e447483c9ba815a11d54b718c38bcf7e7d2
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint31y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint32y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint32y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..eb2671c7cca13a892d8225d215d6a6a0d412fdda
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint32y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint33y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint33y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..d41a059c8ca268fe8d0ca16dc9a806ba3708e464
--- /dev/null
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint40y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint40y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..8cff710bf4602776dc8ac172a194de5abb817931
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint40y_joint_visu.wrl
@@ -0,0 +1,1320 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint41y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint41y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c247c013e5d3df276f55bcb94dfbca973f4ecd46
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint41y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint42y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint42y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c8ec3f0779a35696586d8730be35d2cfd4502a7e
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint42y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint43y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint43y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..4ca184f620f9ffc1818af3e4b266f530a3923c77
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint43y_joint_visu.wrl
@@ -0,0 +1,254 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint50y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint50y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..38ba1825e882c3dfd59f114e0d1376a0f0bd4c0b
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint50y_joint_visu.wrl
@@ -0,0 +1,1320 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint51y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint51y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f76cc0003475743e5f423eff462544f4147f8592
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint51y_joint_visu.wrl
@@ -0,0 +1,1561 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint52y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint52y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..ae2a35a7161db1097ddce8f389be15bff3612762
--- /dev/null
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint53y_joint_visu.wrl b/data/RobotAPI/robots/MMM/models/RightFingerJoint53y_joint_visu.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..d60a3ee2c2341ade4ed985bae80c48e5945b8383
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint53y_joint_visu.wrl
@@ -0,0 +1,254 @@
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