URDF Collada Writer 2015-03-23T18:27:52.000000 2015-03-23T18:27:52.000000 Z_UP 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.0934 0.02957 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0 0 0 1 0 0 0 0 -1 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.04794 0 0 1 0 0 0 0 -1 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.02827 0 0 1 0 0 0 0 -1 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.02612 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.10125 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0 0 0 1 0 0 0 0 -1 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.04988 0 0 1 0 0 0 0 -1 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.03259 0 0 1 0 0 0 0 -1 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.03043 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.082146 -0.047768 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0 0 0 1 0 0 0 0 -1 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.03389 0 0 1 0 0 0 0 -1 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.02396 0 0 1 0 0 0 0 -1 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.02542 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.093608 -0.025021 0 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0 0 0 1 0 0 0 0 -1 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.04416 0 0 1 0 0 0 0 -1 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.03312 0 0 1 0 0 0 0 -1 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.02887 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.032476 0.028433 0 -0.01238310822551834 -0.007149390867435371 0.9998977671946768 60.00507314013976 0 0 1 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0 0 0 1 0 0 0 0 -1 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.04565 0 0 1 0 0 0 0 -1 0 0 0 0 0 1 0 0 0 -0 -0 -0 1 0 0 0 0.02678 0 0 1 0 0 0 0 -1 0 0 0 0 0 1 0 0 0 0 0 1 -8.000209693411685 3.00000701530499 0 -1 0 -8.000209693411685 3.00000701530499 0 -1 0 -90.00021045914971 0 0 -1 0 -99.99832398418258 0 0 0 0 0 0 0 0 1 -8.000209693411685 3.00000701530499 0 -1 0 -8.000209693411685 3.00000701530499 0 -1 0 -114.5915590261646 114.5915590261646 0 -1 0 -114.5915590261646 114.5915590261646 0 0 0 0 0 0 0 1 -8.000209693411685 3.00000701530499 0 -1 0 -8.000209693411685 3.00000701530499 0 -1 0 -90.00021045914971 0 0 -1 0 -99.99832398418258 0 0 0 0 0 0 0 0 1 -8.000209693411685 3.00000701530499 0 -1 0 -8.000209693411685 3.00000701530499 0 -1 0 -99.99832398418258 0 0 -1 0 -99.99832398418258 0 0 0 0 0 0 0 0 1 -99.99832398418258 39.99990255146816 0 -1 0 -46.99972793458143 30.0000701530499 0 -1 0 -90.00021045914971 0 0 -1 0 -90.00021045914971 20.00023775463164 0.0934 0.02957 0 1 0 0 0 0 0 0 1 0 0 0 0.04794 0 0 1 0 0 0 0.02827 0 0 1 0 0 0 0.02612 0 0 1 0 0 0 0.10125 0 0 1 0 0 0 0 0 0 1 0 0 0 0.04988 0 0 1 0 0 0 0.03259 0 0 1 0 0 0 0.03043 0 0 1 0 0 0 0.082146 -0.047768 0 1 0 0 0 0 0 0 1 0 0 0 0.03389 0 0 1 0 0 0 0.02396 0 0 1 0 0 0 0.02542 0 0 1 0 0 0 0.093608 -0.025021 0 1 0 0 0 0 0 0 1 0 0 0 0.04416 0 0 1 0 0 0 0.03312 0 0 1 0 0 0 0.02887 0 0 1 0 0 0 0.032476 0.028433 0 -0.01238310822551834 -0.007149390867435371 0.9998977671946768 60.00507314013976 0 0 0 1 0 0 0 0.04565 0 0 1 0 0 0 0.02678 0 0 1 0 0 0 robot0_kinematics/robot0_kinematics_kmodel0_inst robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0_value robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0 robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0_value 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 robot0_kinematics/kmodel0_inst robot0_kinematics/kmodel0_inst/index_dof0_joint/axis0 0 robot0_kinematics/kmodel0_inst/index_dof1_joint/axis0 0 robot0_kinematics/kmodel0_inst/index_dof2_joint/axis0 0 robot0_kinematics/kmodel0_inst/index_dof3_joint/axis0 0 robot0_kinematics/kmodel0_inst/index_dof4_joint/axis0 0 robot0_kinematics/kmodel0_inst/middle_dof0_joint/axis0 0 robot0_kinematics/kmodel0_inst/middle_dof1_joint/axis0 0 robot0_kinematics/kmodel0_inst/middle_dof2_joint/axis0 0 robot0_kinematics/kmodel0_inst/middle_dof3_joint/axis0 0 robot0_kinematics/kmodel0_inst/middle_dof4_joint/axis0 0 robot0_kinematics/kmodel0_inst/pinky_dof0_joint/axis0 0 robot0_kinematics/kmodel0_inst/pinky_dof1_joint/axis0 0 robot0_kinematics/kmodel0_inst/pinky_dof2_joint/axis0 0 robot0_kinematics/kmodel0_inst/pinky_dof3_joint/axis0 0 robot0_kinematics/kmodel0_inst/pinky_dof4_joint/axis0 0 robot0_kinematics/kmodel0_inst/ring_dof0_joint/axis0 0 robot0_kinematics/kmodel0_inst/ring_dof1_joint/axis0 0 robot0_kinematics/kmodel0_inst/ring_dof2_joint/axis0 0 robot0_kinematics/kmodel0_inst/ring_dof3_joint/axis0 0 robot0_kinematics/kmodel0_inst/ring_dof4_joint/axis0 0 robot0_kinematics/kmodel0_inst/thumb_dof0_joint/axis0 0 robot0_kinematics/kmodel0_inst/thumb_dof1_joint/axis0 0 robot0_kinematics/kmodel0_inst/thumb_dof2_joint/axis0 0 robot0_kinematics/kmodel0_inst/thumb_dof3_joint/axis0 0 true false -8.000209693411685 3.00000701530499 true false -8.000209693411685 3.00000701530499 true false -90.00021045914971 0 true false -99.99832398418258 0 false false 0 0 true false -8.000209693411685 3.00000701530499 true false -8.000209693411685 3.00000701530499 true false -114.5915590261646 114.5915590261646 true false -114.5915590261646 114.5915590261646 false false 0 0 true false -8.000209693411685 3.00000701530499 true false -8.000209693411685 3.00000701530499 true false -90.00021045914971 0 true false -99.99832398418258 0 false false 0 0 true false -8.000209693411685 3.00000701530499 true false -8.000209693411685 3.00000701530499 true false -99.99832398418258 0 true false -99.99832398418258 0 false false 0 0 true false -99.99832398418258 39.99990255146816 true false -46.99972793458143 30.0000701530499 true false -90.00021045914971 0 true false -90.00021045914971 20.00023775463164 0 0 0 kscene_kmodel0_inst kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0_value kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0 kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0_value