diff --git a/urdf_parser_py/src/urdf_parser_py/urdf.py b/urdf_parser_py/src/urdf_parser_py/urdf.py
index ee025df7..8d1805c9 100644
--- a/urdf_parser_py/src/urdf_parser_py/urdf.py
+++ b/urdf_parser_py/src/urdf_parser_py/urdf.py
@@ -21,8 +21,8 @@ def check_valid(self):
 		assert self.xyz is not None or self.rpy is not None
 
 xmlr.reflect(Pose, params = [
-	xmlr.Attribute('rpy', 'vector3', False),
-	xmlr.Attribute('xyz', 'vector3', False)
+	xmlr.Attribute('xyz', 'vector3', False),
+	xmlr.Attribute('rpy', 'vector3', False)
 	])
 
 
@@ -200,9 +200,9 @@ def __init__(self, mass = 0.0, inertia = None, origin=None):
 		self.origin = origin
 
 xmlr.reflect(Inertial, params = [
+	origin_element,
 	xmlr.Element('mass', 'element_value'),
-	xmlr.Element('inertia', Inertia, False),
-	origin_element
+	xmlr.Element('inertia', Inertia, False)
 	])
 
 
@@ -227,17 +227,17 @@ def __init__(self, effort=None, velocity=None, lower=None, upper=None):
 
 xmlr.reflect(JointLimit, params = [
 	xmlr.Attribute('effort', float),
-	xmlr.Attribute('velocity', float),
 	xmlr.Attribute('lower', float),
-	xmlr.Attribute('upper', float)
+	xmlr.Attribute('upper', float),
+	xmlr.Attribute('velocity', float)
 	])
 
 #FIXME: we are missing __str__ here.
 class JointMimic(xmlr.Object):
 	def __init__(self, joint_name=None, multiplier=None, offset=None):
-		self.joint_name = joint_name
+		self.joint = joint_name
 		self.multiplier = multiplier
-		self.offset = offset
+		self.offset = offset	
 
 xmlr.reflect(JointMimic, params = [
 	xmlr.Attribute('joint', str),
@@ -284,10 +284,10 @@ def check_valid(self):
 xmlr.reflect(Joint, params = [
 	name_attribute,
 	xmlr.Attribute('type', str),
-	xmlr.Element('parent', 'element_link'),
-	xmlr.Element('child', 'element_link'),
 	origin_element,
 	xmlr.Element('axis', 'element_xyz', False),
+	xmlr.Element('parent', 'element_link'),
+	xmlr.Element('child', 'element_link'),
 	xmlr.Element('limit', JointLimit, False),
 	xmlr.Element('dynamics', JointDynamics, False),
 	xmlr.Element('safety_controller', SafetyController, False),
@@ -307,9 +307,9 @@ def __init__(self, name=None, visual=None, inertial=None, collision=None, origin
 xmlr.reflect(Link, params = [
 	name_attribute,
 	origin_element,
+	xmlr.Element('inertial', Inertial, False),
 	xmlr.Element('visual', Visual, False),
-	xmlr.Element('collision', Collision, False),
-	xmlr.Element('inertial', Inertial, False)
+	xmlr.Element('collision', Collision, False)
 	])
 
 
diff --git a/urdf_parser_py/test/pelican_gen_mer.patch b/urdf_parser_py/test/pelican_gen_mer.patch
deleted file mode 100644
index 48e9946d..00000000
--- a/urdf_parser_py/test/pelican_gen_mer.patch
+++ /dev/null
@@ -1,130 +0,0 @@
---- /tmp/pelican.urdf	2013-04-11 09:24:30.325804322 -0500
-+++ /tmp/tmp.urdf	2013-04-11 09:26:50.185809508 -0500
-@@ -1,111 +1,78 @@
-+<?xml version="1.0"?>
- <robot name="Asctec Pelican">
--  
--################################################################################
--# LINKS                                                                        #
--################################################################################
--
--  ##### base_link ##############################################################
--
-   <link name="base_link">
-     <visual>
--      <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 3.1415"/>
-+      <origin rpy="1.57 0.0 3.1415" xyz="0.0 0.0 0.0"/>
-       <geometry>
--        <mesh filename="package://pelican_urdf/data/pelican.stl" 
--              scale="0.001 0.001 0.001"/>
-+        <mesh filename="package://pelican_urdf/data/pelican.stl" scale="0.001 0.001 0.001"/>
-       </geometry>
-       <material name="blue">
-         <color rgba="0.4 0.4 0.5 1.0"/>
-       </material>
-     </visual>
-   </link>
--
--  ##### base_footprint #########################################################
--
-   <link name="base_footprint"/>
--
--  ##### legs ###################################################################
--
-   <link name="leg_1">
-     <visual>
-+      <origin rpy="0.0 0.0 0.0" xyz="0.089 0.0 -0.057"/>
-       <geometry>
--       <box size="0.044 0.007 0.114"/>
-+        <box size="0.044 0.007 0.114"/>
-       </geometry>
--      <origin xyz="0.089 0.00 -0.057" rpy="0.0 0.0 0.0"/>
-       <material name="g">
-         <color rgba="0.2 0.25 0.25 1.0"/>
-       </material>
-     </visual>
-   </link>
--
-   <link name="leg_2">
-     <visual>
-+      <origin rpy="0.0 0.0 0.0" xyz="-0.089 0.0 -0.057"/>
-       <geometry>
--       <box size="0.044 0.007 0.114"/>
-+        <box size="0.044 0.007 0.114"/>
-       </geometry>
--      <origin xyz="-0.089 0.00 -0.057" rpy="0.0 0.0 0.0"/>
-       <material name="g"/>
-     </visual>
-   </link>
--
-   <link name="leg_3">
-     <visual>
-+      <origin rpy="0.0 0.0 1.5708" xyz="0.0 0.089 -0.057"/>
-       <geometry>
--       <box size="0.044 0.007 0.114"/>
-+        <box size="0.044 0.007 0.114"/>
-       </geometry>
--      <origin xyz="0.00 0.089 -0.057" rpy="0.0 0.0 1.5708"/>
-       <material name="g"/>
-     </visual>
-   </link>
--
-   <link name="leg_4">
-     <visual>
-+      <origin rpy="0.0 0.0 1.5708" xyz="0.0 -0.089 -0.057"/>
-       <geometry>
--       <box size="0.044 0.007 0.114"/>
-+        <box size="0.044 0.007 0.114"/>
-       </geometry>
--      <origin xyz="0.00 -0.089 -0.057" rpy="0.0 0.0 1.5708"/>
-       <material name="g"/>
-     </visual>
-   </link>
--
--################################################################################
--# JOINTS                                                                       #
--################################################################################
--
--  ##### base_footprint #########################################################
--
-   <joint name="base_link_to_base_footprint" type="fixed">
-     <parent link="base_link"/>
-     <child link="base_footprint"/>
--    <origin xyz="0.00 0.00 -0.195" rpy="0.0 0.0 0.0"/>
-+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.195"/>
-   </joint>
--
--  ##### legs ###################################################################
--  
-   <joint name="base_link_to_leg_1" type="fixed">
-     <parent link="base_link"/>
-     <child link="leg_1"/>
--    <origin xyz="0.00 0.00 -0.083" rpy="0.0 0.0 0.0"/>
-+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.083"/>
-   </joint>
--
-   <joint name="base_link_to_leg_2" type="fixed">
-     <parent link="base_link"/>
-     <child link="leg_2"/>
--    <origin xyz="0.00 0.00 -0.083" rpy="0.0 0.0 0.0"/>
-+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.083"/>
-   </joint>
--
-   <joint name="base_link_to_leg_3" type="fixed">
-     <parent link="base_link"/>
-     <child link="leg_3"/>
--    <origin xyz="0.00 0.00 -0.083" rpy="0.0 0.0 0.0"/>
-+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.083"/>
-   </joint>
--
-   <joint name="base_link_to_leg_4" type="fixed">
-     <parent link="base_link"/>
-     <child link="leg_4"/>
--    <origin xyz="0.00 0.00 -0.083" rpy="0.0 0.0 0.0"/>
-+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.083"/>
-   </joint>
--
- </robot>
--
--
--
diff --git a/urdf_parser_py/test/pelican_test.sh b/urdf_parser_py/test/pelican_test.sh
deleted file mode 100755
index 8372438b..00000000
--- a/urdf_parser_py/test/pelican_test.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/bin/bash
-roslaunch ./pelican_test.launch
-rosrun urdf_parser_py display_urdf -o /tmp/pelican_gen.urdf
-python -c 'import rospy; open("/tmp/pelicant.urdf").write(rospy.get_param("/robot_description"))'
-diff -u /tmp/pelican.urdf /tmp/pelican_gen.urdf
\ No newline at end of file
diff --git a/urdf_parser_py/test/pelican_test.launch b/urdf_parser_py/test/romeo_description.launch
similarity index 100%
rename from urdf_parser_py/test/pelican_test.launch
rename to urdf_parser_py/test/romeo_description.launch
diff --git a/urdf_parser_py/test/romeo_gen.patch b/urdf_parser_py/test/romeo_gen.patch
new file mode 100644
index 00000000..e0880e69
--- /dev/null
+++ b/urdf_parser_py/test/romeo_gen.patch
@@ -0,0 +1,2114 @@
+diff --git a/romeo_description/urdf/romeo.urdf b/tmp/romeo.urdf
+index c78c618..0138356 100644
+--- a/romeo_description/urdf/romeo.urdf
++++ b/tmp/romeo.urdf
+@@ -1,1585 +1,1450 @@
+ <?xml version="1.0"?>
+-<!--
+-   Aldebaran Robotics Romeo URDF model
+-
+-   FIXME: fill missing data: sole, gripper and sensors
+-  -->
+-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="romeo">
++<robot name="romeo">
+   <link name="base_link"/>
+-
+   <link name="body">
+     <inertial>
+-      <origin xyz="0.00932 0.0005 -0.2119" rpy="0 0 0"/>
++      <origin xyz="0.00932 0.0005 -0.2119" rpy="0.0 0.0 0.0"/>
+       <mass value="4.16277"/>
+-      <inertia ixx="0.24187936706" ixy="-6.889635e-05" ixz="0.00282915469" iyy="0.23816771319" iyz="0.00030625215" izz="0.02147385599" />
++      <inertia ixx="0.24187936706" ixy="-6.889635e-05" ixz="0.00282915469" iyy="0.23816771319" iyz="0.00030625215" izz="0.02147385599"/>
+     </inertial>
+     <visual>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/Waist.dae" />
++        <mesh filename="package://romeo_description/meshes/Waist.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/Waist.dae" />
++        <mesh filename="package://romeo_description/meshes/Waist.dae"/>
+       </geometry>
+     </collision>
+   </link>
+-
+   <link name="torso">
+     <inertial>
+-      <origin xyz="0.0023 0.00038 -0.04854" rpy="0 0 0"/>
++      <origin xyz="0.0023 0.00038 -0.04854" rpy="0.0 0.0 0.0"/>
+       <mass value="9.9216"/>
+-      <inertia ixx="0.12933235299" ixy="-0.00035965149" ixz="0.00283888003" iyy="0.12683108985" iyz="-0.00200842624" izz="0.11062739082" />
++      <inertia ixx="0.12933235299" ixy="-0.00035965149" ixz="0.00283888003" iyy="0.12683108985" iyz="-0.00200842624" izz="0.11062739082"/>
+     </inertial>
+     <visual>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/Torso.dae" />
++        <mesh filename="package://romeo_description/meshes/Torso.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/Torso.dae" />
++        <mesh filename="package://romeo_description/meshes/Torso.dae"/>
+       </geometry>
+     </collision>
+   </link>
+-
+   <link name="NeckYawLink">
+     <inertial>
+-      <origin xyz="0 -0.00183 -0.03074" rpy="0 0 0"/>
++      <origin xyz="0.0 -0.00183 -0.03074" rpy="0.0 0.0 0.0"/>
+       <mass value="0.51016"/>
+-      <inertia ixx="0.00122158912" ixy="-8.014e-08" ixz="1.145e-08" iyy="0.00124607826" iyz="-1.84095e-06" izz="0.00018796505" />
++      <inertia ixx="0.00122158912" ixy="-8.014e-08" ixz="1.145e-08" iyy="0.00124607826" iyz="-1.84095e-06" izz="0.00018796505"/>
+     </inertial>
+   </link>
+-
+   <link name="NeckPitchLink">
+     <inertial>
+-      <origin xyz="-0.00472 -0.00054 0.04432" rpy="0 0 0"/>
++      <origin xyz="-0.00472 -0.00054 0.04432" rpy="0.0 0.0 0.0"/>
+       <mass value="0.23875"/>
+-      <inertia ixx="0.0008660225" ixy="-1.57263e-06" ixz="6.138255e-05" iyy="0.00081828666" iyz="9.69515e-06" izz="0.00023891895" />
++      <inertia ixx="0.0008660225" ixy="-1.57263e-06" ixz="6.138255e-05" iyy="0.00081828666" iyz="9.69515e-06" izz="0.00023891895"/>
+     </inertial>
+     <visual>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/NeckPitch.dae" />
++        <mesh filename="package://romeo_description/meshes/NeckPitch.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/NeckPitch.dae" />
++        <mesh filename="package://romeo_description/meshes/NeckPitch.dae"/>
+       </geometry>
+     </collision>
+   </link>
+-
+   <link name="HeadPitchLink">
+     <inertial>
+-      <origin xyz="0.00137 0.00027 -0.00641" rpy="0 0 0"/>
++      <origin xyz="0.00137 0.00027 -0.00641" rpy="0.0 0.0 0.0"/>
+       <mass value="0.13981"/>
+-      <inertia ixx="3.89601e-05" ixy="-3.814e-08" ixz="-2.29622e-06" iyy="7.254653e-05" iyz="-6.46e-09" izz="5.376501e-05" />
++      <inertia ixx="3.89601e-05" ixy="-3.814e-08" ixz="-2.29622e-06" iyy="7.254653e-05" iyz="-6.46e-09" izz="5.376501e-05"/>
+     </inertial>
+   </link>
+-
+   <link name="HeadRollLink">
+     <inertial>
+-      <origin xyz="0.01617 0.00168 0.0757" rpy="0 0 0"/>
++      <origin xyz="0.01617 0.00168 0.0757" rpy="0.0 0.0 0.0"/>
+       <mass value="1.41282"/>
+-      <inertia ixx="0.01490874108" ixy="-5.142093e-05" ixz="-0.00068489344" iyy="0.01731891079" iyz="-0.00019152738" izz="0.00735474589" />
++      <inertia ixx="0.01490874108" ixy="-5.142093e-05" ixz="-0.00068489344" iyy="0.01731891079" iyz="-0.00019152738" izz="0.00735474589"/>
+     </inertial>
+     <visual>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/HeadRoll.dae" />
++        <mesh filename="package://romeo_description/meshes/HeadRoll.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/HeadRoll.dae" />
++        <mesh filename="package://romeo_description/meshes/HeadRoll.dae"/>
+       </geometry>
+     </collision>
+   </link>
+-
+   <link name="LShoulderPitchLink">
+     <inertial>
+-      <origin xyz="0.00149 -0.03299 0.00018" rpy="0 0 0"/>
++      <origin xyz="0.00149 -0.03299 0.00018" rpy="0.0 0.0 0.0"/>
+       <mass value="0.69402"/>
+-      <inertia ixx="0.00201004114" ixy="2.37595e-06" ixz="-2.16793e-06" iyy="0.00057062588" iyz="8.27832e-06" izz="0.00194067879" />
++      <inertia ixx="0.00201004114" ixy="2.37595e-06" ixz="-2.16793e-06" iyy="0.00057062588" iyz="8.27832e-06" izz="0.00194067879"/>
+     </inertial>
+   </link>
+-
+   <link name="LShoulderYawLink">
+     <inertial>
+-      <origin xyz="0.09367 0.01373 0.00103" rpy="0 0 0"/>
++      <origin xyz="0.09367 0.01373 0.00103" rpy="0.0 0.0 0.0"/>
+       <mass value="0.57151"/>
+-      <inertia ixx="0.00074281758" ixy="-0.00061767526" ixz="-7.28438e-05" iyy="0.00650202304" iyz="-1.251569e-05" izz="0.00664433886" />
++      <inertia ixx="0.00074281758" ixy="-0.00061767526" ixz="-7.28438e-05" iyy="0.00650202304" iyz="-1.251569e-05" izz="0.00664433886"/>
+     </inertial>
+     <visual>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/LShoulderYaw.dae" />
++        <mesh filename="package://romeo_description/meshes/LShoulderYaw.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/LShoulderYaw.dae" />
++        <mesh filename="package://romeo_description/meshes/LShoulderYaw.dae"/>
+       </geometry>
+     </collision>
+   </link>
+-
+   <link name="LElbowRollLink">
+     <inertial>
+-      <origin xyz="-0.02231 -0.0024 0" rpy="0 0 0"/>
++      <origin xyz="-0.02231 -0.0024 0.0" rpy="0.0 0.0 0.0"/>
+       <mass value="0.39848"/>
+-      <inertia ixx="0.00017900324" ixy="-2.25555e-06" ixz="1.376e-08" iyy="0.00080432225" iyz="8.007e-08" izz="0.00077956048" />
++      <inertia ixx="0.00017900324" ixy="-2.25555e-06" ixz="1.376e-08" iyy="0.00080432225" iyz="8.007e-08" izz="0.00077956048"/>
+     </inertial>
+   </link>
+-
+   <link name="LElbowYawLink">
+     <inertial>
+-      <origin xyz="0.06738 0.01043 -0.00031" rpy="0 0 0"/>
++      <origin xyz="0.06738 0.01043 -0.00031" rpy="0.0 0.0 0.0"/>
+       <mass value="0.31265"/>
+-      <inertia ixx="0.00037509574" ixy="-0.00022528338" ixz="2.58073e-06" iyy="0.00209727597" iyz="2.74613e-06" izz="0.00211064798" />
++      <inertia ixx="0.00037509574" ixy="-0.00022528338" ixz="2.58073e-06" iyy="0.00209727597" iyz="2.74613e-06" izz="0.00211064798"/>
+     </inertial>
+     <visual>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/LElbowYaw.dae" />
++        <mesh filename="package://romeo_description/meshes/LElbowYaw.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/LElbowYaw.dae" />
++        <mesh filename="package://romeo_description/meshes/LElbowYaw.dae"/>
+       </geometry>
+     </collision>
+   </link>
+-
+   <link name="LWristRollLink">
+     <inertial>
+-      <origin xyz="-0.0593 -5e-05 -0.00069" rpy="0 0 0"/>
++      <origin xyz="-0.0593 -5e-05 -0.00069" rpy="0.0 0.0 0.0"/>
+       <mass value="0.17563"/>
+-      <inertia ixx="6.721454e-05" ixy="-6.373e-07" ixz="-1.358095e-05" iyy="0.00085119568" iyz="-2.443e-08" izz="0.00084034753" />
++      <inertia ixx="6.721454e-05" ixy="-6.373e-07" ixz="-1.358095e-05" iyy="0.00085119568" iyz="-2.443e-08" izz="0.00084034753"/>
+     </inertial>
+     <visual>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/LWristRoll.dae" />
++        <mesh filename="package://romeo_description/meshes/LWristRoll.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
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++        <mesh filename="package://romeo_description/meshes/LWristRoll.dae"/>
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+     </collision>
+   </link>
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+   <link name="LWristYawLink">
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++        <mesh filename="package://romeo_description/meshes/WristYaw.dae"/>
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+     </collision>
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+   <link name="l_wrist">
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++        <mesh filename="package://romeo_description/meshes/LWristPitch.dae"/>
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++        <mesh filename="package://romeo_description/meshes/LWristPitch.dae"/>
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+   <link name="RShoulderPitchLink">
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++        <mesh filename="package://romeo_description/meshes/RShoulderYaw.dae"/>
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++        <mesh filename="package://romeo_description/meshes/RShoulderYaw.dae"/>
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++        <mesh filename="package://romeo_description/meshes/RElbowYaw.dae"/>
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+     </visual>
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++        <mesh filename="package://romeo_description/meshes/RElbowYaw.dae"/>
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+   <link name="RWristRollLink">
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+       <geometry>
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++        <mesh filename="package://romeo_description/meshes/RWristRoll.dae"/>
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+     </visual>
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++        <mesh filename="package://romeo_description/meshes/RWristRoll.dae"/>
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+   </link>
+-
+   <link name="RWristYawLink">
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+       <geometry>
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++        <mesh filename="package://romeo_description/meshes/WristYaw.dae"/>
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++        <mesh filename="package://romeo_description/meshes/WristYaw.dae"/>
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+   <link name="r_wrist">
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++        <mesh filename="package://romeo_description/meshes/RWristPitch.dae"/>
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+       <geometry>
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++        <mesh filename="package://romeo_description/meshes/RWristPitch.dae"/>
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+   <link name="LHipYawLink">
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+   <link name="LHipRollLink">
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+   <link name="LHipPitchLink">
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++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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++        <mesh filename="package://romeo_description/meshes/LHipPitch.dae"/>
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+       <geometry>
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++        <mesh filename="package://romeo_description/meshes/LHipPitch.dae"/>
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+     </collision>
+   </link>
+-
+   <link name="LKneePitchLink">
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++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
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++        <mesh filename="package://romeo_description/meshes/LKneePitch.dae"/>
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+     </visual>
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++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/LKneePitch.dae" />
++        <mesh filename="package://romeo_description/meshes/LKneePitch.dae"/>
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+     </collision>
+   </link>
+-
+   <link name="LAnklePitchLink">
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+   <link name="l_ankle">
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++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
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++        <mesh filename="package://romeo_description/meshes/LAnkleRoll.dae"/>
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+     </visual>
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++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
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++        <mesh filename="package://romeo_description/meshes/LAnkleRoll.dae"/>
+       </geometry>
+     </collision>
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+   <link name="l_sole"/>
+-
+   <link name="l_toe">
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++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
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++        <mesh filename="package://romeo_description/meshes/LToePitch.dae"/>
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+     </visual>
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+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/LToePitch.dae" />
++        <mesh filename="package://romeo_description/meshes/LToePitch.dae"/>
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+   <link name="RHipYawLink">
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+   <link name="RHipPitchLink">
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++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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++        <mesh filename="package://romeo_description/meshes/RHipPitch.dae"/>
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+     </visual>
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++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/RHipPitch.dae" />
++        <mesh filename="package://romeo_description/meshes/RHipPitch.dae"/>
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+     </collision>
+   </link>
+-
+   <link name="RKneePitchLink">
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++        <mesh filename="package://romeo_description/meshes/Phalax.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/Phalax.dae" />
++        <mesh filename="package://romeo_description/meshes/Phalax.dae"/>
+       </geometry>
+     </collision>
+   </link>
+-
+   <link name="RFinger13Link">
+     <inertial>
+-      <origin xyz="0 0 0" rpy="0 0 0"/>
+-      <mass value="0"/>
+-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++      <mass value="0.0"/>
++      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+     </inertial>
+     <visual>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/PhalaxEnd.dae" />
++        <mesh filename="package://romeo_description/meshes/PhalaxEnd.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/PhalaxEnd.dae" />
++        <mesh filename="package://romeo_description/meshes/PhalaxEnd.dae"/>
+       </geometry>
+     </collision>
+   </link>
+-
+   <link name="RFinger21Link">
+     <inertial>
+-      <origin xyz="0 0 0" rpy="0 0 0"/>
+-      <mass value="0"/>
+-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++      <mass value="0.0"/>
++      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+     </inertial>
+     <visual>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/Phalax.dae" />
++        <mesh filename="package://romeo_description/meshes/Phalax.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/Phalax.dae" />
++        <mesh filename="package://romeo_description/meshes/Phalax.dae"/>
+       </geometry>
+     </collision>
+   </link>
+-
+   <link name="RFinger22Link">
+     <inertial>
+-      <origin xyz="0 0 0" rpy="0 0 0"/>
+-      <mass value="0"/>
+-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++      <mass value="0.0"/>
++      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+     </inertial>
+     <visual>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/Phalax.dae" />
++        <mesh filename="package://romeo_description/meshes/Phalax.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/Phalax.dae" />
++        <mesh filename="package://romeo_description/meshes/Phalax.dae"/>
+       </geometry>
+     </collision>
+   </link>
+-
+   <link name="RFinger23Link">
+     <inertial>
+-      <origin xyz="0 0 0" rpy="0 0 0"/>
+-      <mass value="0"/>
+-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++      <mass value="0.0"/>
++      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+     </inertial>
+     <visual>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/PhalaxEnd.dae" />
++        <mesh filename="package://romeo_description/meshes/PhalaxEnd.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/PhalaxEnd.dae" />
++        <mesh filename="package://romeo_description/meshes/PhalaxEnd.dae"/>
+       </geometry>
+     </collision>
+   </link>
+-
+   <link name="RFinger31Link">
+     <inertial>
+-      <origin xyz="0 0 0" rpy="0 0 0"/>
+-      <mass value="0"/>
+-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++      <mass value="0.0"/>
++      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+     </inertial>
+     <visual>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/Phalax.dae" />
++        <mesh filename="package://romeo_description/meshes/Phalax.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/Phalax.dae" />
++        <mesh filename="package://romeo_description/meshes/Phalax.dae"/>
+       </geometry>
+     </collision>
+   </link>
+-
+   <link name="RFinger32Link">
+     <inertial>
+-      <origin xyz="0 0 0" rpy="0 0 0"/>
+-      <mass value="0"/>
+-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++      <mass value="0.0"/>
++      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+     </inertial>
+     <visual>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/Phalax.dae" />
++        <mesh filename="package://romeo_description/meshes/Phalax.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/Phalax.dae" />
++        <mesh filename="package://romeo_description/meshes/Phalax.dae"/>
+       </geometry>
+     </collision>
+   </link>
+-
+   <link name="RFinger33Link">
+     <inertial>
+-      <origin xyz="0 0 0" rpy="0 0 0"/>
+-      <mass value="0"/>
+-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++      <mass value="0.0"/>
++      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+     </inertial>
+     <visual>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/PhalaxEnd.dae" />
++        <mesh filename="package://romeo_description/meshes/PhalaxEnd.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/PhalaxEnd.dae" />
++        <mesh filename="package://romeo_description/meshes/PhalaxEnd.dae"/>
+       </geometry>
+     </collision>
+   </link>
+-
+   <link name="RThumb1Link">
+     <inertial>
+-      <origin xyz="0 0 0" rpy="0 0 0"/>
+-      <mass value="0"/>
+-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++      <mass value="0.0"/>
++      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+     </inertial>
+     <visual>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/RThumb.dae" />
++        <mesh filename="package://romeo_description/meshes/RThumb.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/RThumb.dae" />
++        <mesh filename="package://romeo_description/meshes/RThumb.dae"/>
+       </geometry>
+     </collision>
+   </link>
+-
+   <link name="RThumb2Link">
+     <inertial>
+-      <origin xyz="0 0 0" rpy="0 0 0"/>
+-      <mass value="0"/>
+-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++      <mass value="0.0"/>
++      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+     </inertial>
+     <visual>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/Phalax.dae" />
++        <mesh filename="package://romeo_description/meshes/Phalax.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/Phalax.dae" />
++        <mesh filename="package://romeo_description/meshes/Phalax.dae"/>
+       </geometry>
+     </collision>
+   </link>
+-
+   <link name="RThumb3Link">
+     <inertial>
+-      <origin xyz="0 0 0" rpy="0 0 0"/>
+-      <mass value="0"/>
+-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++      <mass value="0.0"/>
++      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+     </inertial>
+     <visual>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/PhalaxEnd.dae" />
++        <mesh filename="package://romeo_description/meshes/PhalaxEnd.dae"/>
+       </geometry>
+     </visual>
+     <collision>
+-      <origin xyz="0 0 0" rpy="0 0 0" />
++      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+       <geometry>
+-	<mesh filename="package://romeo_description/meshes/PhalaxEnd.dae" />
++        <mesh filename="package://romeo_description/meshes/PhalaxEnd.dae"/>
+       </geometry>
+     </collision>
+   </link>
+-
+-
+-
+-  <!--   Joints following below -->
+-
+   <joint name="waist" type="fixed">
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+     <parent link="base_link"/>
+     <child link="body"/>
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+   </joint>
+   <joint name="TrunkYaw" type="revolute">
+-    <origin xyz="-0 -0 0.2" rpy="0 0 0"/>
+-    <axis xyz="0 0 1"/>
++    <origin xyz="-0.0 -0.0 0.2" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 0.0 1.0"/>
+     <parent link="body"/>
+     <child link="torso"/>
+-    <limit effort="0" lower="-0.78539815" upper="0.78539815" velocity="0" />
++    <limit effort="0.0" lower="-0.78539815" upper="0.78539815" velocity="0.0"/>
+   </joint>
+-
+   <joint name="NeckYaw" type="revolute">
+-    <origin xyz="0 0 0.0835" rpy="0 0 0"/>
+-    <axis xyz="0 0 1"/>
++    <origin xyz="0.0 0.0 0.0835" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 0.0 1.0"/>
+     <parent link="torso"/>
+     <child link="NeckYawLink"/>
+-    <limit effort="24.2532552" lower="-1.5707963" upper="1.5707963" velocity="5.8886917" />
++    <limit effort="24.2532552" lower="-1.5707963" upper="1.5707963" velocity="5.8886917"/>
+   </joint>
+-
+   <joint name="NeckPitch" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="0 1 0"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 1.0 0.0"/>
+     <parent link="NeckYawLink"/>
+     <child link="NeckPitchLink"/>
+-    <limit effort="23.115708" lower="-0.698131688888889" upper="0.698131688888889" velocity="6.17848" />
++    <limit effort="23.115708" lower="-0.698131688889" upper="0.698131688889" velocity="6.17848"/>
+   </joint>
+-
+   <joint name="HeadPitch" type="revolute">
+-    <origin xyz="0 0 0.09511" rpy="0 0 0"/>
+-    <axis xyz="0 1 0"/>
++    <origin xyz="0.0 0.0 0.09511" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 1.0 0.0"/>
+     <parent link="NeckPitchLink"/>
+     <child link="HeadPitchLink"/>
+-    <limit effort="14.6811456" lower="-0.289724650888889" upper="0.349065844444444" velocity="7.2988824" />
++    <limit effort="14.6811456" lower="-0.289724650889" upper="0.349065844444" velocity="7.2988824"/>
+   </joint>
+-
+   <joint name="HeadRoll" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="1 0 0"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="1.0 0.0 0.0"/>
+     <parent link="HeadPitchLink"/>
+     <child link="HeadRollLink"/>
+-    <limit effort="22.586421" lower="-0.523598766666667" upper="0.523598766666667" velocity="4.7442645" />
++    <limit effort="22.586421" lower="-0.523598766667" upper="0.523598766667" velocity="4.7442645"/>
+   </joint>
+-
+   <joint name="LShoulderPitch" type="revolute">
+-    <origin xyz="0.005 0.19 0" rpy="0 0 0"/>
+-    <axis xyz="0 1 0"/>
++    <origin xyz="0.005 0.19 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 1.0 0.0"/>
+     <parent link="torso"/>
+     <child link="LShoulderPitchLink"/>
+-    <limit effort="21.882612" lower="-1.51843642333333" upper="2.09439506666667" velocity="6.52664058" />
++    <limit effort="21.882612" lower="-1.51843642333" upper="2.09439506667" velocity="6.52664058"/>
+   </joint>
+-
+   <joint name="LShoulderYaw" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="0 0 1"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 0.0 1.0"/>
+     <parent link="LShoulderPitchLink"/>
+     <child link="LShoulderYawLink"/>
+-    <limit effort="13.820682" lower="-0.200712860555556" upper="1.43989660833333" velocity="10.333784" />
++    <limit effort="13.820682" lower="-0.200712860556" upper="1.43989660833" velocity="10.333784"/>
+   </joint>
+-
+   <joint name="LElbowRoll" type="revolute">
+-    <origin xyz="0.205 0 0" rpy="0 0 0"/>
+-    <axis xyz="1 0 0"/>
++    <origin xyz="0.205 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="1.0 0.0 0.0"/>
+     <parent link="LShoulderYawLink"/>
+     <child link="LElbowRollLink"/>
+-    <limit effort="13.820682" lower="-2.60054054111111" upper="1.39626337777778" velocity="10.333784" />
++    <limit effort="13.820682" lower="-2.60054054111" upper="1.39626337778" velocity="10.333784"/>
+   </joint>
+-
+   <joint name="LElbowYaw" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="0 0 1"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 0.0 1.0"/>
+     <parent link="LElbowRollLink"/>
+     <child link="LElbowYawLink"/>
+-    <limit effort="13.757736" lower="-1.5707963" upper="0.401425721111111" velocity="10.3810644" />
++    <limit effort="13.757736" lower="-1.5707963" upper="0.401425721111" velocity="10.3810644"/>
+   </joint>
+-
+   <joint name="LWristRoll" type="revolute">
+-    <origin xyz="0.182 0 0" rpy="0 0 0"/>
+-    <axis xyz="1 0 0"/>
++    <origin xyz="0.182 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="1.0 0.0 0.0"/>
+     <parent link="LElbowYawLink"/>
+     <child link="LWristRollLink"/>
+-    <limit effort="0" lower="-3.66519136666667" upper="0.523598766666667" velocity="0" />
++    <limit effort="0.0" lower="-3.66519136667" upper="0.523598766667" velocity="0.0"/>
+   </joint>
+-
+   <joint name="LWristYaw" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="0 1 0"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 1.0 0.0"/>
+     <parent link="LWristRollLink"/>
+     <child link="LWristYawLink"/>
+-    <limit effort="0" lower="-0.488692182222222" upper="0.488692182222222" velocity="0" />
++    <limit effort="0.0" lower="-0.488692182222" upper="0.488692182222" velocity="0.0"/>
+   </joint>
+-
+   <joint name="LWristPitch" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="0 0 1"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 0.0 1.0"/>
+     <parent link="LWristYawLink"/>
+     <child link="l_wrist"/>
+-    <limit effort="0" lower="-0.977384364444444" upper="0.977384364444444" velocity="0" />
++    <limit effort="0.0" lower="-0.977384364444" upper="0.977384364444" velocity="0.0"/>
+   </joint>
+-
+   <joint name="RShoulderPitch" type="revolute">
+-    <origin xyz="0.005 -0.19 0" rpy="0 0 0"/>
+-    <axis xyz="0 1 0"/>
++    <origin xyz="0.005 -0.19 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 1.0 0.0"/>
+     <parent link="torso"/>
+     <child link="RShoulderPitchLink"/>
+-    <limit effort="21.882612" lower="-1.51843642333333" upper="2.09439506666667" velocity="6.52664058" />
++    <limit effort="21.882612" lower="-1.51843642333" upper="2.09439506667" velocity="6.52664058"/>
+   </joint>
+-
+   <joint name="RShoulderYaw" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="0 0 1"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 0.0 1.0"/>
+     <parent link="RShoulderPitchLink"/>
+     <child link="RShoulderYawLink"/>
+-    <limit effort="13.820682" lower="-1.43989660833333" upper="0.200712860555556" velocity="10.333784" />
++    <limit effort="13.820682" lower="-1.43989660833" upper="0.200712860556" velocity="10.333784"/>
+   </joint>
+-
+   <joint name="RElbowRoll" type="revolute">
+-    <origin xyz="0.205 0 0" rpy="0 0 0"/>
+-    <axis xyz="1 0 0"/>
++    <origin xyz="0.205 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="1.0 0.0 0.0"/>
+     <parent link="RShoulderYawLink"/>
+     <child link="RElbowRollLink"/>
+-    <limit effort="13.820682" lower="-1.39626337777778" upper="2.60054054111111" velocity="10.333784" />
++    <limit effort="13.820682" lower="-1.39626337778" upper="2.60054054111" velocity="10.333784"/>
+   </joint>
+-
+   <joint name="RElbowYaw" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="0 0 1"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 0.0 1.0"/>
+     <parent link="RElbowRollLink"/>
+     <child link="RElbowYawLink"/>
+-    <limit effort="13.757736" lower="-0.401425721111111" upper="1.5707963" velocity="10.3810644" />
++    <limit effort="13.757736" lower="-0.401425721111" upper="1.5707963" velocity="10.3810644"/>
+   </joint>
+-
+   <joint name="RWristRoll" type="revolute">
+-    <origin xyz="0.182 0 0" rpy="0 0 0"/>
+-    <axis xyz="1 0 0"/>
++    <origin xyz="0.182 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="1.0 0.0 0.0"/>
+     <parent link="RElbowYawLink"/>
+     <child link="RWristRollLink"/>
+-    <limit effort="0" lower="-0.523598766666667" upper="3.66519136666667" velocity="0" />
++    <limit effort="0.0" lower="-0.523598766667" upper="3.66519136667" velocity="0.0"/>
+   </joint>
+-
+   <joint name="RWristYaw" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="0 1 0"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 1.0 0.0"/>
+     <parent link="RWristRollLink"/>
+     <child link="RWristYawLink"/>
+-    <limit effort="0" lower="-0.488692182222222" upper="0.488692182222222" velocity="0" />
++    <limit effort="0.0" lower="-0.488692182222" upper="0.488692182222" velocity="0.0"/>
+   </joint>
+-
+   <joint name="RWristPitch" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="0 0 1"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 0.0 1.0"/>
+     <parent link="RWristYawLink"/>
+     <child link="r_wrist"/>
+-    <limit effort="0" lower="-0.977384364444444" upper="0.977384364444444" velocity="0" />
++    <limit effort="0.0" lower="-0.977384364444" upper="0.977384364444" velocity="0.0"/>
+   </joint>
+-
+   <joint name="LHipYaw" type="revolute">
+-    <origin xyz="0 0.096 -0.20004" rpy="0 0 0"/>
+-    <axis xyz="0 0 1"/>
++    <origin xyz="0.0 0.096 -0.20004" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 0.0 1.0"/>
+     <parent link="body"/>
+     <child link="LHipYawLink"/>
+-    <limit effort="17.754" lower="-0.261799383333333" upper="0.261799383333333" velocity="8.082461" />
++    <limit effort="17.754" lower="-0.261799383333" upper="0.261799383333" velocity="8.082461"/>
+   </joint>
+-
+   <joint name="LHipRoll" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="1 0 0"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="1.0 0.0 0.0"/>
+     <parent link="LHipYawLink"/>
+     <child link="LHipRollLink"/>
+-    <limit effort="27.911346822" lower="-0.261799383333333" upper="0.523598766666667" velocity="10.289294" />
++    <limit effort="27.911346822" lower="-0.261799383333" upper="0.523598766667" velocity="10.289294"/>
+   </joint>
+-
+   <joint name="LHipPitch" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="0 1 0"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 1.0 0.0"/>
+     <parent link="LHipRollLink"/>
+     <child link="LHipPitchLink"/>
+-    <limit effort="42.35835006" lower="-1.71042263777778" upper="0.523598766666667" velocity="6.7799634" />
++    <limit effort="42.35835006" lower="-1.71042263778" upper="0.523598766667" velocity="6.7799634"/>
+   </joint>
+-
+   <joint name="LKneePitch" type="revolute">
+-    <origin xyz="0 0 -0.32" rpy="0 0 0"/>
+-    <axis xyz="0 1 0"/>
++    <origin xyz="0.0 0.0 -0.32" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 1.0 0.0"/>
+     <parent link="LHipPitchLink"/>
+     <child link="LKneePitchLink"/>
+-    <limit effort="17.350636374" lower="-0.0523598766666667" upper="2.25147469666667" velocity="8.27600953" />
++    <limit effort="17.350636374" lower="-0.0523598766667" upper="2.25147469667" velocity="8.27600953"/>
+   </joint>
+-
+   <joint name="LAnklePitch" type="revolute">
+-    <origin xyz="0 0 -0.29" rpy="0 0 0"/>
+-    <axis xyz="0 1 0"/>
++    <origin xyz="0.0 0.0 -0.29" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 1.0 0.0"/>
+     <parent link="LKneePitchLink"/>
+     <child link="LAnklePitchLink"/>
+-    <limit effort="42.35835006" lower="-0.78539815" upper="0.523598766666667" velocity="6.7799634" />
++    <limit effort="42.35835006" lower="-0.78539815" upper="0.523598766667" velocity="6.7799634"/>
+   </joint>
+-
+   <joint name="LAnkleRoll" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="1 0 0"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="1.0 0.0 0.0"/>
+     <parent link="LAnklePitchLink"/>
+     <child link="l_ankle"/>
+-    <limit effort="27.911346822" lower="-0.349065844444444" upper="0.349065844444444" velocity="10.28929" />
++    <limit effort="27.911346822" lower="-0.349065844444" upper="0.349065844444" velocity="10.28929"/>
+   </joint>
+-
+   <joint name="LToePitch" type="revolute">
+-    <origin xyz="0.1135 0 -0.0524" rpy="0 0 0"/>
+-    <axis xyz="0 1 0"/>
++    <origin xyz="0.1135 0.0 -0.0524" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 1.0 0.0"/>
+     <parent link="l_ankle"/>
+     <child link="l_toe"/>
+-    <limit effort="0" lower="-0.78539815" upper="0" velocity="0" />
++    <limit effort="0.0" lower="-0.78539815" upper="0.0" velocity="0.0"/>
+   </joint>
+-
+   <joint name="RHipYaw" type="revolute">
+-    <origin xyz="0 -0.096 -0.20004" rpy="0 0 0"/>
+-    <axis xyz="0 0 1"/>
++    <origin xyz="0.0 -0.096 -0.20004" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 0.0 1.0"/>
+     <parent link="body"/>
+     <child link="RHipYawLink"/>
+-    <limit effort="17.754" lower="-0.261799383333333" upper="0.261799383333333" velocity="8.082461" />
++    <limit effort="17.754" lower="-0.261799383333" upper="0.261799383333" velocity="8.082461"/>
+   </joint>
+-
+   <joint name="RHipRoll" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="1 0 0"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="1.0 0.0 0.0"/>
+     <parent link="RHipYawLink"/>
+     <child link="RHipRollLink"/>
+-    <limit effort="27.911346822" lower="-0.523598766666667" upper="0.261799383333333" velocity="10.289294" />
++    <limit effort="27.911346822" lower="-0.523598766667" upper="0.261799383333" velocity="10.289294"/>
+   </joint>
+-
+   <joint name="RHipPitch" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="0 1 0"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 1.0 0.0"/>
+     <parent link="RHipRollLink"/>
+     <child link="RHipPitchLink"/>
+-    <limit effort="42.35835006" lower="-1.71042263777778" upper="0.523598766666667" velocity="6.7799634" />
++    <limit effort="42.35835006" lower="-1.71042263778" upper="0.523598766667" velocity="6.7799634"/>
+   </joint>
+-
+   <joint name="RKneePitch" type="revolute">
+-    <origin xyz="0 0 -0.32" rpy="0 0 0"/>
+-    <axis xyz="0 1 0"/>
++    <origin xyz="0.0 0.0 -0.32" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 1.0 0.0"/>
+     <parent link="RHipPitchLink"/>
+     <child link="RKneePitchLink"/>
+-    <limit effort="17.350636374" lower="-0.0523598766666667" upper="2.25147469666667" velocity="8.27600953" />
++    <limit effort="17.350636374" lower="-0.0523598766667" upper="2.25147469667" velocity="8.27600953"/>
+   </joint>
+-
+   <joint name="RAnklePitch" type="revolute">
+-    <origin xyz="0 0 -0.29" rpy="0 0 0"/>
+-    <axis xyz="0 1 0"/>
++    <origin xyz="0.0 0.0 -0.29" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 1.0 0.0"/>
+     <parent link="RKneePitchLink"/>
+     <child link="RAnklePitchLink"/>
+-    <limit effort="42.35835006" lower="-0.78539815" upper="0.523598766666667" velocity="6.7799634" />
++    <limit effort="42.35835006" lower="-0.78539815" upper="0.523598766667" velocity="6.7799634"/>
+   </joint>
+-
+   <joint name="RAnkleRoll" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="1 0 0"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="1.0 0.0 0.0"/>
+     <parent link="RAnklePitchLink"/>
+     <child link="r_ankle"/>
+-    <limit effort="27.911346822" lower="-0.349065844444444" upper="0.349065844444444" velocity="10.28929" />
++    <limit effort="27.911346822" lower="-0.349065844444" upper="0.349065844444" velocity="10.28929"/>
+   </joint>
+-
+   <joint name="RToePitch" type="revolute">
+-    <origin xyz="0.1135 0 -0.0524" rpy="0 0 0"/>
+-    <axis xyz="0 1 0"/>
++    <origin xyz="0.1135 0.0 -0.0524" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 1.0 0.0"/>
+     <parent link="r_ankle"/>
+     <child link="r_toe"/>
+-    <limit effort="0" lower="-0.78539815" upper="0" velocity="0" />
++    <limit effort="0.0" lower="-0.78539815" upper="0.0" velocity="0.0"/>
+   </joint>
+-
+   <joint name="LFinger11" type="revolute">
+     <origin xyz="0.10937 0.02468 0.00329" rpy="2.98023e-08 1.06465 0.122173"/>
+     <axis xyz="0.121869 -0.992546 -4.37114e-08"/>
+     <parent link="l_wrist"/>
+     <child link="LFinger11Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
+   </joint>
+-
+   <joint name="LFinger12" type="revolute">
+-    <origin xyz="0.01818 0 0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.01818 0.0 0.0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="LFinger11Link"/>
+     <child link="LFinger12Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="LFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="LFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="LFinger13" type="revolute">
+-    <origin xyz="0.01818 0 0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.01818 0.0 0.0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="LFinger12Link"/>
+     <child link="LFinger13Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="LFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="LFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="LFinger21" type="revolute">
+-    <origin xyz="0.11525 0 0.00329" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.11525 0.0 0.00329" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="l_wrist"/>
+     <child link="LFinger21Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="LFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="LFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="LFinger22" type="revolute">
+-    <origin xyz="0.01818 0 0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.01818 0.0 0.0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="LFinger21Link"/>
+     <child link="LFinger22Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="LFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="LFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="LFinger23" type="revolute">
+-    <origin xyz="0.01818 0 0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.01818 0.0 0.0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="LFinger22Link"/>
+     <child link="LFinger23Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="LFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="LFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="LFinger31" type="revolute">
+     <origin xyz="0.09936 -0.02478 0.00329" rpy="3.72529e-08 1.06465 -0.122173"/>
+     <axis xyz="-0.121869 -0.992546 -4.37114e-08"/>
+     <parent link="l_wrist"/>
+     <child link="LFinger31Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="LFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="LFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="LFinger32" type="revolute">
+-    <origin xyz="0.01818 0 0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.01818 0.0 0.0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="LFinger31Link"/>
+     <child link="LFinger32Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="LFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="LFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="LFinger33" type="revolute">
+-    <origin xyz="0.01818 0 0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.01818 0.0 0.0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="LFinger32Link"/>
+     <child link="LFinger33Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="LFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="LFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="LThumb1" type="revolute">
+     <origin xyz="0.07115 -0.02465 -0.01233" rpy="-4.76837e-07 1.37881 -2.53073"/>
+     <axis xyz="-0.573576 0.819152 1.05097e-07"/>
+     <parent link="l_wrist"/>
+     <child link="LThumb1Link"/>
+-    <limit effort="0" lower="-1.06465082555556" upper="0" velocity="0" />
+-    <mimic joint="LFinger11" multiplier="-1" offset="0"/>
++    <limit effort="0.0" lower="-1.06465082556" upper="0.0" velocity="0.0"/>
++    <mimic joint="LFinger11" multiplier="-1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="LThumb2" type="revolute">
+-    <origin xyz="0.01818 0 0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.01818 0.0 0.0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="LThumb1Link"/>
+     <child link="LThumb2Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="LFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="LFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="LThumb3" type="revolute">
+-    <origin xyz="0.01818 0 0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.01818 0.0 0.0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="LThumb2Link"/>
+     <child link="LThumb3Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="LFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="LFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="RFinger11" type="revolute">
+     <origin xyz="0.10937 -0.02468 0.00329" rpy="3.72529e-08 1.06465 -0.122173"/>
+     <axis xyz="-0.121869 -0.992546 -4.37114e-08"/>
+     <parent link="r_wrist"/>
+     <child link="RFinger11Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
+   </joint>
+-
+   <joint name="RFinger12" type="revolute">
+-    <origin xyz="0.01818 0 0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.01818 0.0 0.0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="RFinger11Link"/>
+     <child link="RFinger12Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="RFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="RFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="RFinger13" type="revolute">
+-    <origin xyz="0.01818 0 0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.01818 0.0 0.0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="RFinger12Link"/>
+     <child link="RFinger13Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="RFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="RFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="RFinger21" type="revolute">
+-    <origin xyz="0.11525 0 0.00329" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.11525 0.0 0.00329" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="r_wrist"/>
+     <child link="RFinger21Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="RFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="RFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="RFinger22" type="revolute">
+-    <origin xyz="0.01818 0 0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.01818 0.0 0.0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="RFinger21Link"/>
+     <child link="RFinger22Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="RFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="RFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="RFinger23" type="revolute">
+-    <origin xyz="0.01818 0 0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.01818 0.0 0.0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="RFinger22Link"/>
+     <child link="RFinger23Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="RFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="RFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="RFinger31" type="revolute">
+     <origin xyz="0.09936 0.02478 0.00329" rpy="2.98023e-08 1.06465 0.122173"/>
+     <axis xyz="0.121869 -0.992546 -4.37114e-08"/>
+     <parent link="r_wrist"/>
+     <child link="RFinger31Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="RFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="RFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="RFinger32" type="revolute">
+-    <origin xyz="0.01818 0 0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.01818 0.0 0.0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="RFinger31Link"/>
+     <child link="RFinger32Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="RFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="RFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="RFinger33" type="revolute">
+-    <origin xyz="0.01818 0 0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.01818 0.0 0.0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="RFinger32Link"/>
+     <child link="RFinger33Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="RFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="RFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="RThumb1" type="revolute">
+     <origin xyz="0.07115 0.02465 -0.01233" rpy="-2.68221e-07 1.37881 2.53073"/>
+     <axis xyz="0.573576 0.819152 1.05097e-07"/>
+     <parent link="r_wrist"/>
+     <child link="RThumb1Link"/>
+-    <limit effort="0" lower="-1.06465082555556" upper="0" velocity="0" />
+-    <mimic joint="RFinger11" multiplier="-1" offset="0"/>
++    <limit effort="0.0" lower="-1.06465082556" upper="0.0" velocity="0.0"/>
++    <mimic joint="RFinger11" multiplier="-1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="RThumb2" type="revolute">
+-    <origin xyz="0.01818 0 0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.01818 0.0 0.0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="RThumb1Link"/>
+     <child link="RThumb2Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="RFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="RFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="RThumb3" type="revolute">
+-    <origin xyz="0.01818 0 0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
+-    <axis xyz="0 -1 -4.37114e-08"/>
++    <origin xyz="0.01818 0.0 0.0" rpy="4.64506e-08 1.06465 7.88574e-08"/>
++    <axis xyz="0.0 -1.0 -4.37114e-08"/>
+     <parent link="RThumb2Link"/>
+     <child link="RThumb3Link"/>
+-    <limit effort="0" lower="0" upper="1.06465082555556" velocity="0" />
+-    <mimic joint="RFinger11" multiplier="1" offset="0"/>
++    <limit effort="0.0" lower="0.0" upper="1.06465082556" velocity="0.0"/>
++    <mimic joint="RFinger11" multiplier="1.0" offset="0.0"/>
+   </joint>
+-
+   <joint name="l_sole_joint" type="fixed">
++    <origin xyz="0.0 0.0 -0.067" rpy="0.0 0.0 0.0"/>
+     <parent link="l_ankle"/>
+     <child link="l_sole"/>
+-    <origin xyz="0 0 -0.067" rpy="0 0 0"/>
+   </joint>
+   <joint name="r_sole_joint" type="fixed">
++    <origin xyz="0.0 0.0 -0.067" rpy="0.0 0.0 0.0"/>
+     <parent link="r_ankle"/>
+     <child link="r_sole"/>
+-    <origin xyz="0 0 -0.067" rpy="0 0 0"/>
+   </joint>
+-
+-  <!-- Humanoid standard frame: gaze -->
+   <joint name="gaze_joint" type="fixed">
++    <origin xyz="0.1111 0.0 0.0515" rpy="0.0 0.0 0.0"/>
+     <parent link="HeadRollLink"/>
+     <child link="gaze"/>
+-    <origin xyz="0.1111 0 0.0515" rpy="0 0 0" />
+   </joint>
+   <link name="gaze"/>
+-
+-  <!-- Sensors: cameras -->
+   <joint name="LEyeYaw" type="revolute">
+-    <origin xyz="0 0.0325 0" rpy="0 0 0"/>
+-    <axis xyz="0 0 1"/>
++    <origin xyz="0.0 0.0325 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 0.0 1.0"/>
+     <parent link="gaze"/>
+     <child link="LEyePitch_link"/>
+-    <limit effort="0" lower="-0.523598766666667" upper="0.523598766666667" velocity="0" />
++    <limit effort="0.0" lower="-0.523598766667" upper="0.523598766667" velocity="0.0"/>
+   </joint>
+   <link name="LEyePitch_link"/>
+-
+   <joint name="LEyePitch" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="0 1 0"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 1.0 0.0"/>
+     <parent link="LEyePitch_link"/>
+     <child link="CameraLeftEye"/>
+-    <limit effort="0" lower="-0.349065844444444" upper="0.349065844444444" velocity="0" />
++    <limit effort="0.0" lower="-0.349065844444" upper="0.349065844444" velocity="0.0"/>
+   </joint>
+   <link name="CameraLeftEye"/>
+-
+   <joint name="REyeYaw" type="revolute">
+-    <origin xyz="0 -0.0325 0" rpy="0 0 0"/>
+-    <axis xyz="0 0 1"/>
++    <origin xyz="0.0 -0.0325 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 0.0 1.0"/>
+     <parent link="gaze"/>
+     <child link="REyePitch_link"/>
+-    <limit effort="0" lower="-0.523598766666667" upper="0.523598766666667" velocity="0" />
++    <limit effort="0.0" lower="-0.523598766667" upper="0.523598766667" velocity="0.0"/>
+   </joint>
+   <link name="REyePitch_link"/>
+-
+   <joint name="REyePitch" type="revolute">
+-    <origin xyz="0 0 0" rpy="0 0 0"/>
+-    <axis xyz="0 1 0"/>
++    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
++    <axis xyz="0.0 1.0 0.0"/>
+     <parent link="REyePitch_link"/>
+     <child link="CameraRightEye"/>
+-    <limit effort="0" lower="-0.349065844444444" upper="0.349065844444444" velocity="0" />
++    <limit effort="0.0" lower="-0.349065844444" upper="0.349065844444" velocity="0.0"/>
+   </joint>
+   <link name="CameraRightEye"/>
+-
+   <joint name="CameraLeft_joint" type="fixed">
+-    <origin xyz="-0.0021 0.055 0.0333" rpy="0 0 0" />
++    <origin xyz="-0.0021 0.055 0.0333" rpy="0.0 0.0 0.0"/>
+     <parent link="gaze"/>
+     <child link="CameraLeft"/>
+   </joint>
+   <link name="CameraLeft"/>
+-
+   <joint name="CameraRight_joint" type="fixed">
+-    <origin xyz="-0.0021 -0.055 0.0333" rpy="0 0 0" />
++    <origin xyz="-0.0021 -0.055 0.0333" rpy="0.0 0.0 0.0"/>
+     <parent link="gaze"/>
+     <child link="CameraRight"/>
+   </joint>
+   <link name="CameraRight"/>
+-
+ </robot>
diff --git a/urdf_parser_py/test/romeo_test.sh b/urdf_parser_py/test/romeo_test.sh
new file mode 100755
index 00000000..138c95bc
--- /dev/null
+++ b/urdf_parser_py/test/romeo_test.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+name=romeo
+orig="$(rospack find romeo_description)/urdf/$name.urdf"
+gen="/tmp/$name.urdf"
+patch="/tmp/$name.patch"
+
+rosrun urdf_parser_py display_urdf "$orig" -o "$gen"
+diff -u "$orig" "$gen" > "$patch"
\ No newline at end of file