<robot name="robot">
  <link name="base_footprint"></link>
  <joint name="base_joint" type="fixed">
    <parent link="base_footprint" />
    <child link="base_link" />
    <origin xyz="0 0 0" rpy="0 0 0" />
    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
  </joint>
  <link name="base_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.1 0.05 0.05" />
      </geometry>
      <material name="base_link-material">
        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.1 0.05 0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
    </inertial>
  </link>
  <joint name="base_link_to_spine_1" type="revolute">
  <parent link="base_link"/>
  <child link="spine_1"/>
  <origin xyz="0 0 0.0337" rpy="0 0 0"/>
  <axis xyz="-0.9997 -0.0114 0.0229"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>
  <link name="spine_1">
    <visual>
      <origin xyz="0 0 0.05" rpy="0 0 0" />
      <geometry>
        <box size="0.1 0.05 0.1" />
      </geometry>
      <material name="spine_1-material">
        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0.05" rpy="0 0 0" />
      <geometry>
        <box size="0.1 0.05 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.05" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
    </inertial>
  </link>
  <joint name="spine_1_to_upper_arm_right" type="revolute">
  <parent link="spine_1"/>
  <child link="upper_arm_right"/>
  <origin xyz="0.0624 0 0.0973" rpy="-3.1416 -0.6587 0"/>
  <axis xyz="-0.9997 -0.0114 0.0229"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>
  <link name="upper_arm_right">
    <visual>
      <origin xyz="0 0 0.03" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.03 0.06" />
      </geometry>
      <material name="upper_arm_right-material">
        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0.03" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.03 0.06" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.03" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
    </inertial>
  </link>
 <joint name="upper_arm_right_to_lower_arm_right" type="revolute">
  <parent link="upper_arm_right"/>
  <child link="lower_arm_right"/>
  <origin xyz="0.0 0 .065" rpy="0 0 0"/>
  <axis xyz="-0.9997 -0.0114 0.0229"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>
  <link name="lower_arm_right">
    <visual>
      <origin xyz="0 0 0.025" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.03 0.05" />
      </geometry>
      <material name="lower_arm_right-material">
        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0.025" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.03 0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.025" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
    </inertial>
  </link>
 <joint name="lower_arm_right_to_hand_right" type="revolute">
  <parent link="lower_arm_right"/>
  <child link="hand_right"/>
  <origin xyz="0 0 0.055" rpy="0 0 0"/>
  <axis xyz="0 1 0"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>
  <link name="hand_right">
    <visual>
      <origin xyz="0 0 0.015" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.03 0.03" />
      </geometry>
      <material name="hand_right-material">
        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0.015" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.03 0.03" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.015" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
    </inertial>
  </link>
  
  <!-- Left Upper Arm -->
<joint name="spine_1_to_upper_arm_left" type="revolute">
  <parent link="spine_1"/>
  <child link="upper_arm_left"/>
  <origin xyz="-0.0624 0 0.0973" rpy="3.1416 0.6587 0"/>
  <axis xyz="-1 0 0"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>

<link name="upper_arm_left">
  <visual>
    <origin xyz="0 0 0.03" rpy="0 0 0"/>
    <geometry>
      <box size="0.03 0.03 0.06"/>
    </geometry>
    <material name="upper_arm_left-material">
      <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1"/>
    </material>
  </visual>
  <collision>
    <origin xyz="0 0 0.03" rpy="0 0 0"/>
    <geometry>
      <box size="0.03 0.03 0.06"/>
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 0.03" rpy="0 0 0"/>
    <mass value="1"/>
    <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666"/>
  </inertial>
</link>


<!-- Left Lower Arm -->
<joint name="upper_arm_left_to_lower_arm_left" type="revolute">
  <parent link="upper_arm_left"/>
  <child link="lower_arm_left"/>
  <origin xyz="0.0 0 0.065" rpy="0 0 0"/>
  <axis xyz="-1 0 0"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>

<link name="lower_arm_left">
  <visual>
    <origin xyz="0 0 0.025" rpy="0 0 0"/>
    <geometry>
      <box size="0.03 0.03 0.05"/>
    </geometry>
    <material name="lower_arm_left-material">
      <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1"/>
    </material>
  </visual>
  <collision>
    <origin xyz="0 0 0.025" rpy="0 0 0"/>
    <geometry>
      <box size="0.03 0.03 0.05"/>
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 0.025" rpy="0 0 0"/>
    <mass value="1"/>
    <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666"/>
  </inertial>
</link>


<!-- Left Hand -->
<joint name="lower_arm_left_to_hand_left" type="revolute">
  <parent link="lower_arm_left"/>
  <child link="hand_left"/>
  <origin xyz="0 0 0.055" rpy="0 0 0"/>
  <axis xyz="0 1 0"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>


<link name="hand_left">
  <visual>
    <origin xyz="0 0 0.015" rpy="0 0 0"/>
    <geometry>
      <box size="0.03 0.03 0.03"/>
    </geometry>
    <material name="hand_left-material">
      <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1"/>
    </material>
  </visual>
  <collision>
    <origin xyz="0 0 0.015" rpy="0 0 0"/>
    <geometry>
      <box size="0.03 0.03 0.03"/>
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 0.015" rpy="0 0 0"/>
    <mass value="1"/>
    <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666"/>
  </inertial>
</link>



<joint name="base_link_to_upper_leg_right" type="revolute">
    <parent link="base_link" />
    <child link="upper_leg_right" />
    <origin xyz="0.035 0 -0.035" rpy="0 0 0" />
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>  </joint>

  <link name="upper_leg_right">
  <visual>
    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
    <geometry>
      <box size="0.04 0.04 0.07"/>
    </geometry>
    <material name="upper_leg_right-material">
      <color rgba="0.0021 0.0497 0.4851 1"/>
    </material>
  </visual>
  <collision>
    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
    <geometry>
      <box size="0.04 0.04 0.07"/>
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
    <mass value="1"/>
    <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
  </inertial>
</link>


  <joint name="upper_leg_right_to_lower_leg_right" type="revolute">
  <parent link="upper_leg_right"/>
  <child link="lower_leg_right"/>
  <origin xyz="0 0 -0.075" rpy="0 0 0"/>
  <axis xyz="-0.9997 -0.0114 0.0229"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>


  <link name="lower_leg_right">
  <visual>
    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
    <geometry>
      <box size="0.04 0.04 0.07"/>
    </geometry>
    <material name="lower_leg_right-material">
      <color rgba="0.0021 0.0497 0.4851 1"/>
    </material>
  </visual>
  <collision>
    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
    <geometry>
      <box size="0.04 0.04 0.07"/>
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
    <mass value="1"/>
    <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
  </inertial>
</link>


  <joint name="lower_leg_right_to_foot_right" type="revolute">
  <parent link="lower_leg_right"/>
  <child link="foot_right"/>
  <origin xyz="0 0 -0.075" rpy="0 0 0"/>
  <axis xyz="-1 0 0"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>

<link name="foot_right">
  <visual>
    <origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
    <geometry>
      <box size="0.04 0.08 0.02"/>
    </geometry>
    <material name="foot_right-material">
      <color rgba="0.0021 0.0497 0.4851 1"/>
    </material>
  </visual>
  <collision>
    <origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
    <geometry>
      <box size="0.04 0.08 0.02"/>
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
    <mass value="1"/>
    <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
  </inertial>
</link>



  
  <!-- Left Upper Leg -->
<joint name="base_link_to_upper_leg_left" type="revolute">
  <parent link="base_link"/>
  <child link="upper_leg_left"/>
  <origin xyz="-0.035 0 -0.035" rpy="0 0 0"/>
  <axis xyz="1 0 0"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>

<link name="upper_leg_left">
  <visual>
    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
    <geometry>
      <box size="0.04 0.04 0.07"/>
    </geometry>
    <material name="upper_leg_left-material">
      <color rgba="0.0021 0.0497 0.4851 1"/>
    </material>
  </visual>
  <collision>
    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
    <geometry>
      <box size="0.04 0.04 0.07"/>
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
    <mass value="1"/>
    <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
  </inertial>
</link>


<!-- Left Lower Leg -->
<joint name="upper_leg_left_to_lower_leg_left" type="revolute">
  <parent link="upper_leg_left"/>
  <child link="lower_leg_left"/>
  <origin xyz="0 0 -0.075" rpy="0 0 0"/>
  <axis xyz="-0.9997 -0.0114 0.0229"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>

<link name="lower_leg_left">
  <visual>
    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
    <geometry>
      <box size="0.04 0.04 0.07"/>
    </geometry>
    <material name="lower_leg_left-material">
      <color rgba="0.0021 0.0497 0.4851 1"/>
    </material>
  </visual>
  <collision>
    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
    <geometry>
      <box size="0.04 0.04 0.07"/>
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
    <mass value="1"/>
    <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
  </inertial>
</link>


<!-- Left Foot -->
<joint name="lower_leg_left_to_foot_left" type="revolute">
  <parent link="lower_leg_left"/>
  <child link="foot_left"/>
  <origin xyz="0 0 -0.075" rpy="0 0 0"/>
  <axis xyz="-1 0 0"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>

<link name="foot_left">
  <visual>
    <origin xyz="0 0.02 -0.01" rpy="0.5 0 0"/>
    <geometry>
      <box size="0.04 0.08 0.02"/>
    </geometry>
    <material name="foot_left-material">
      <color rgba="0.0021 0.0497 0.4851 1"/>
    </material>
  </visual>
  <collision>
    <origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
    <geometry>
      <box size="0.04 0.08 0.02"/>
    </geometry>
  </collision>
  <inertial>
    <origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
    <mass value="1"/>
    <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
  </inertial>
</link>


<joint name="spine_1_to_neck" type="revolute">
  <parent link="spine_1"/>
  <child link="neck"/>
  <origin xyz="0 0 0.12" rpy="0 0 0"/>
  <axis xyz="0 0 1"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>

  <link name="neck">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.03 0.03" />
      </geometry>
      <material name="neck-material">
        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.03 0.03" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
    </inertial>
  </link>

 <joint name="neck_to_head" type="revolute">
  <parent link="neck"/>
  <child link="head"/>
  <origin xyz="0 0 0.04" rpy="0 0 0"/>
  <axis xyz="0 0 1"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>

  <link name="head">
    <visual>
      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
       <geometry>
      <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Face.glb" scale="0.001 0.001 0.001"/>
    </geometry>
      <material name="head-material">
        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.06 0.06 0.06" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
    </inertial>
  </link>


  <transmission name="spine_1_trans">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="base_link_to_spine_1">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="spine_motor_1">
    <mechanicalReduction>1</mechanicalReduction>
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <encoderTicks>4096</encoderTicks>
    <encoderValidMin>200</encoderValidMin>
    <encoderValidMax>3500</encoderValidMax>
    <encoderRange>270</encoderRange>
  </actuator>
</transmission>

  <transmission name="upper_arm_left">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="spine_1_to_upper_arm_left">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="spine_motor_1">
    <mechanicalReduction>1</mechanicalReduction>
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <encoderTicks>4096</encoderTicks>
    <encoderValidMin>200</encoderValidMin>
    <encoderValidMax>3500</encoderValidMax>
    <encoderRange>270</encoderRange>
  </actuator>
</transmission>

 <transmission name="lower_arm_left">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="upper_arm_left_to_lower_arm_left">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="spine_motor_1">
    <mechanicalReduction>1</mechanicalReduction>
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <encoderTicks>4096</encoderTicks>
    <encoderValidMin>200</encoderValidMin>
    <encoderValidMax>3500</encoderValidMax>
    <encoderRange>270</encoderRange>
  </actuator>
</transmission>

 <transmission name="hand_left">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="lower_arm_left_to_hand_left">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="spine_motor_1">
    <mechanicalReduction>1</mechanicalReduction>
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <encoderTicks>4096</encoderTicks>
    <encoderValidMin>200</encoderValidMin>
    <encoderValidMax>3500</encoderValidMax>
    <encoderRange>270</encoderRange>
  </actuator>
</transmission>

<transmission name="upper_arm_right">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="spine_1_to_upper_arm_right">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="spine_motor_1">
    <mechanicalReduction>1</mechanicalReduction>
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <encoderTicks>4096</encoderTicks>
    <encoderValidMin>200</encoderValidMin>
    <encoderValidMax>3500</encoderValidMax>
    <encoderRange>270</encoderRange>
  </actuator>
</transmission>

<transmission name="lower_arm_right">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="upper_arm_right_to_lower_arm_right">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="spine_motor_1">
    <mechanicalReduction>1</mechanicalReduction>
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <encoderTicks>4096</encoderTicks>
    <encoderValidMin>200</encoderValidMin>
    <encoderValidMax>3500</encoderValidMax>
    <encoderRange>270</encoderRange>
  </actuator>
</transmission>

<transmission name="hand_right">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="lower_arm_right_to_hand_right">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="spine_motor_1">
    <mechanicalReduction>1</mechanicalReduction>
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <encoderTicks>4096</encoderTicks>
    <encoderValidMin>200</encoderValidMin>
    <encoderValidMax>3500</encoderValidMax>
    <encoderRange>270</encoderRange>
  </actuator>
</transmission>

<transmission name="upper_leg_right">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="base_link_to_upper_leg_right">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="upper_leg_motor_right">
    <mechanicalReduction>1</mechanicalReduction>
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <encoderTicks>4096</encoderTicks>
    <encoderValidMin>200</encoderValidMin>
    <encoderValidMax>3500</encoderValidMax>
    <encoderRange>270</encoderRange>
  </actuator>
</transmission>

<transmission name="lower_leg_right">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="upper_leg_right_to_lower_leg_right">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="lower_leg_motor_right">
    <mechanicalReduction>1</mechanicalReduction>
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <encoderTicks>4096</encoderTicks>
    <encoderValidMin>200</encoderValidMin>
    <encoderValidMax>3500</encoderValidMax>
    <encoderRange>270</encoderRange>
  </actuator>
</transmission>

<transmission name="foot_right">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="lower_leg_right_to_foot_right">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="foot_motor_right">
    <mechanicalReduction>1</mechanicalReduction>
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <encoderTicks>4096</encoderTicks>
    <encoderValidMin>200</encoderValidMin>
    <encoderValidMax>3500</encoderValidMax>
    <encoderRange>270</encoderRange>
  </actuator>
</transmission>

<transmission name="upper_leg_left">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="base_link_to_upper_leg_left">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="upper_leg_motor_left">
    <mechanicalReduction>1</mechanicalReduction>
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <encoderTicks>4096</encoderTicks>
    <encoderValidMin>200</encoderValidMin>
    <encoderValidMax>3500</encoderValidMax>
    <encoderRange>270</encoderRange>
  </actuator>
</transmission>

<transmission name="lower_leg_left">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="upper_leg_left_to_lower_leg_left">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="lower_leg_motor_left">
    <mechanicalReduction>1</mechanicalReduction>
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <encoderTicks>4096</encoderTicks>
    <encoderValidMin>200</encoderValidMin>
    <encoderValidMax>3500</encoderValidMax>
    <encoderRange>270</encoderRange>
  </actuator>
</transmission>

<transmission name="foot_left">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="lower_leg_left_to_foot_left">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="foot_motor_left">
    <mechanicalReduction>1</mechanicalReduction>
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <encoderTicks>4096</encoderTicks>
    <encoderValidMin>200</encoderValidMin>
    <encoderValidMax>3500</encoderValidMax>
    <encoderRange>270</encoderRange>
  </actuator>
</transmission>
<transmission name="neck_base">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="spine_1_to_neck">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="neck_motor_base">
    <mechanicalReduction>1</mechanicalReduction>
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <encoderTicks>4096</encoderTicks>
    <encoderValidMin>200</encoderValidMin>
    <encoderValidMax>3500</encoderValidMax>
    <encoderRange>270</encoderRange>
  </actuator>
</transmission>
<transmission name="neck_tip">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="neck_to_head">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="neck_motor_tip">
    <mechanicalReduction>1</mechanicalReduction>
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <encoderTicks>4096</encoderTicks>
    <encoderValidMin>500</encoderValidMin>
    <encoderValidMax>4095</encoderValidMax>
    <encoderRange>270</encoderRange>
  </actuator>
</transmission>

</robot>