diff --git a/xsd/autogenerated.urdf b/xsd/autogenerated.urdf
index fd3a9ce4..6f70167a 100644
--- a/xsd/autogenerated.urdf
+++ b/xsd/autogenerated.urdf
@@ -1,696 +1,1299 @@
-<?xml version="1.0" encoding="utf-8"?>
-<robot name="name1" version="1.0" xmlns="http://www.ros.org">
-  <joint name="name1" type="type1">
-    <mimic joint="joint1" multiplier="1" offset="0" />
-    <safety_controller soft_lower_limit="0" soft_upper_limit="0" k_position="0" k_velocity="1" />
-    <limit lower="0" upper="0" effort="0" velocity="0" />
-    <dynamics damping="0" friction="0" />
-    <calibration reference_position="1" rising="1" falling="1" />
-    <axis xyz="1 0 0" />
-    <child link="link1" />
-    <parent link="link1" />
-    <origin xyz="0 0 0" rpy="0 0 0" />
-  </joint>
-  <joint name="name2" type="type2">
-    <mimic joint="joint2" multiplier="1" offset="1" />
-    <safety_controller soft_lower_limit="1" soft_upper_limit="1" k_position="1" k_velocity="-1.7976931348623157E+308" />
-    <limit lower="1" upper="1" effort="1" velocity="1" />
-    <dynamics damping="1" friction="1" />
-    <calibration reference_position="-1.7976931348623157E+308" rising="-1.7976931348623157E+308" falling="-1.7976931348623157E+308" />
-    <axis xyz="xyz1" />
-    <child link="link2" />
-    <parent link="link2" />
-    <origin xyz="xyz1" rpy="rpy1" />
-  </joint>
-  <joint name="name3" type="type3">
-    <mimic joint="joint3" multiplier="-1.7976931348623157E+308" offset="-1.7976931348623157E+308" />
-    <safety_controller soft_lower_limit="-1.7976931348623157E+308" soft_upper_limit="-1.7976931348623157E+308" k_position="-1.7976931348623157E+308" k_velocity="1.7976931348623157E+308" />
-    <limit lower="-1.7976931348623157E+308" upper="-1.7976931348623157E+308" effort="-1.7976931348623157E+308" velocity="-1.7976931348623157E+308" />
-    <dynamics damping="-1.7976931348623157E+308" friction="-1.7976931348623157E+308" />
-    <calibration reference_position="1.7976931348623157E+308" rising="1.7976931348623157E+308" falling="1.7976931348623157E+308" />
-    <axis xyz="xyz2" />
-    <child link="link3" />
-    <parent link="link3" />
-    <origin xyz="xyz2" rpy="rpy2" />
-  </joint>
-  <link name="name1" type="type1">
-    <collision name="name1">
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <box size="0 0 0" />
-      </geometry>
-      <verbose value="value1" />
-    </collision>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <box size="size1" />
-      </geometry>
-      <material name="name1">
-        <color rgba="0 0 0 0" />
-        <texture filename="http://uri1" />
-      </material>
-    </visual>
-    <inertial>
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
-      <mass value="0" />
-      <origin xyz="0 0 0" rpy="0 0 0" />
-    </inertial>
-  </link>
-  <link name="name2" type="type2">
-    <collision name="name2">
-      <origin xyz="xyz1" rpy="rpy1" />
-      <geometry>
-        <box size="size2" />
-      </geometry>
-      <verbose value="value2" />
-    </collision>
-    <visual>
-      <origin xyz="xyz1" rpy="rpy1" />
-      <geometry>
-        <box size="size3" />
-      </geometry>
-      <material name="name2">
-        <color rgba="rgba1" />
-        <texture filename="http://uri2" />
-      </material>
-    </visual>
-    <inertial>
-      <inertia ixx="1" ixy="1" ixz="1" iyy="1" iyz="1" izz="1" />
-      <mass value="1" />
-      <origin xyz="xyz1" rpy="rpy1" />
-    </inertial>
-  </link>
-  <link name="name3" type="type3">
-    <collision name="name3">
-      <origin xyz="xyz2" rpy="rpy2" />
-      <geometry>
-        <box size="size4" />
-      </geometry>
-      <verbose value="value3" />
-    </collision>
-    <visual>
-      <origin xyz="xyz2" rpy="rpy2" />
-      <geometry>
-        <box size="size5" />
-      </geometry>
-      <material name="name3">
-        <color rgba="rgba2" />
-        <texture filename="http://uri3" />
-      </material>
-    </visual>
-    <inertial>
-      <inertia ixx="-1.7976931348623157E+308" ixy="-1.7976931348623157E+308" ixz="-1.7976931348623157E+308" iyy="-1.7976931348623157E+308" iyz="-1.7976931348623157E+308" izz="-1.7976931348623157E+308" />
-      <mass value="-1.7976931348623157E+308" />
-      <origin xyz="xyz2" rpy="rpy2" />
-    </inertial>
-  </link>
-  <material name="name1">
-    <color rgba="0 0 0 0" />
-    <texture filename="http://uri1" />
-  </material>
-  <material name="name2">
-    <color rgba="rgba1" />
-    <texture filename="http://uri2" />
-  </material>
-  <material name="name3">
-    <color rgba="rgba2" />
-    <texture filename="http://uri3" />
-  </material>
-  <transmission name="name1" type="type1">
-    <leftActuator mechanicalReduction="1" name="name1" />
-    <rightActuator mechanicalReduction="1" name="name1" />
-    <flexJoint mechanicalReduction="1" name="name1" />
-    <rollJoint mechanicalReduction="1" name="name1" />
-    <gap_joint L0="1" a="1" b="1" gear_ratio="1" h="1" mechanical_reduction="1" name="name1" phi0="1" r="1" screw_reduction="1" t0="1" theta0="1" />
-    <passive_joint name="name1" />
-    <passive_joint name="name2" />
-    <passive_joint name="name3" />
-    <use_simulated_gripper_joint />
-    <mechanicalReduction>1</mechanicalReduction>
-    <actuator name="name1" />
-    <joint name="name1" />
-    <leftActuator mechanicalReduction="-1.7976931348623157E+308" name="name2" />
-    <rightActuator mechanicalReduction="-1.7976931348623157E+308" name="name2" />
-    <flexJoint mechanicalReduction="-1.7976931348623157E+308" name="name2" />
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-    <passive_joint name="name5" />
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-    <mechanicalReduction>-1.7976931348623157E+308</mechanicalReduction>
-    <actuator name="name2" />
-    <joint name="name2" />
-    <leftActuator mechanicalReduction="1.7976931348623157E+308" name="name3" />
-    <rightActuator mechanicalReduction="1.7976931348623157E+308" name="name3" />
-    <flexJoint mechanicalReduction="1.7976931348623157E+308" name="name3" />
-    <rollJoint mechanicalReduction="1.7976931348623157E+308" name="name3" />
-    <gap_joint L0="1.7976931348623157E+308" a="1.7976931348623157E+308" b="1.7976931348623157E+308" gear_ratio="1.7976931348623157E+308" h="1.7976931348623157E+308" mechanical_reduction="1.7976931348623157E+308" name="name3" phi0="1.7976931348623157E+308" r="1.7976931348623157E+308" screw_reduction="1.7976931348623157E+308" t0="1.7976931348623157E+308" theta0="1.7976931348623157E+308" />
-    <passive_joint name="name7" />
-    <passive_joint name="name8" />
-    <passive_joint name="name9" />
-    <use_simulated_gripper_joint />
-    <mechanicalReduction>1.7976931348623157E+308</mechanicalReduction>
-    <actuator name="name3" />
-    <joint name="name3" />
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-  <transmission name="name2" type="type2">
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-    <rightActuator mechanicalReduction="-0.10000002384185791" name="name4" />
-    <flexJoint mechanicalReduction="-0.10000002384185791" name="name4" />
-    <rollJoint mechanicalReduction="-0.10000002384185791" name="name4" />
-    <gap_joint L0="-0.10000002384185791" a="-0.10000002384185791" b="-0.10000002384185791" gear_ratio="-0.10000002384185791" h="-0.10000002384185791" mechanical_reduction="-0.10000002384185791" name="name4" phi0="-0.10000002384185791" r="-0.10000002384185791" screw_reduction="-0.10000002384185791" t0="-0.10000002384185791" theta0="-0.10000002384185791" />
-    <passive_joint name="name10" />
-    <passive_joint name="name11" />
-    <passive_joint name="name12" />
-    <use_simulated_gripper_joint />
-    <mechanicalReduction>-0.10000002384185791</mechanicalReduction>
-    <actuator name="name4" />
-    <joint name="name4" />
-    <leftActuator mechanicalReduction="2.1000000238418579" name="name5" />
-    <rightActuator mechanicalReduction="2.1000000238418579" name="name5" />
-    <flexJoint mechanicalReduction="2.1000000238418579" name="name5" />
-    <rollJoint mechanicalReduction="2.1000000238418579" name="name5" />
-    <gap_joint L0="2.1000000238418579" a="2.1000000238418579" b="2.1000000238418579" gear_ratio="2.1000000238418579" h="2.1000000238418579" mechanical_reduction="2.1000000238418579" name="name5" phi0="2.1000000238418579" r="2.1000000238418579" screw_reduction="2.1000000238418579" t0="2.1000000238418579" theta0="2.1000000238418579" />
-    <passive_joint name="name13" />
-    <passive_joint name="name14" />
-    <passive_joint name="name15" />
-    <use_simulated_gripper_joint />
-    <mechanicalReduction>2.1000000238418579</mechanicalReduction>
-    <actuator name="name5" />
-    <joint name="name5" />
-    <leftActuator mechanicalReduction="-1.7976931348623157E+308" name="name6" />
-    <rightActuator mechanicalReduction="-1.7976931348623157E+308" name="name6" />
-    <flexJoint mechanicalReduction="-1.7976931348623157E+308" name="name6" />
-    <rollJoint mechanicalReduction="-1.7976931348623157E+308" name="name6" />
-    <gap_joint L0="-1.7976931348623157E+308" a="-1.7976931348623157E+308" b="-1.7976931348623157E+308" gear_ratio="-1.7976931348623157E+308" h="-1.7976931348623157E+308" mechanical_reduction="-1.7976931348623157E+308" name="name6" phi0="-1.7976931348623157E+308" r="-1.7976931348623157E+308" screw_reduction="-1.7976931348623157E+308" t0="-1.7976931348623157E+308" theta0="-1.7976931348623157E+308" />
-    <passive_joint name="name16" />
-    <passive_joint name="name17" />
-    <passive_joint name="name18" />
-    <use_simulated_gripper_joint />
-    <mechanicalReduction>-1.7976931348623157E+308</mechanicalReduction>
-    <actuator name="name6" />
-    <joint name="name6" />
-  </transmission>
-  <transmission name="name3" type="type3">
-    <leftActuator mechanicalReduction="1.7976931348623157E+308" name="name7" />
-    <rightActuator mechanicalReduction="1.7976931348623157E+308" name="name7" />
-    <flexJoint mechanicalReduction="1.7976931348623157E+308" name="name7" />
-    <rollJoint mechanicalReduction="1.7976931348623157E+308" name="name7" />
-    <gap_joint L0="1.7976931348623157E+308" a="1.7976931348623157E+308" b="1.7976931348623157E+308" gear_ratio="1.7976931348623157E+308" h="1.7976931348623157E+308" mechanical_reduction="1.7976931348623157E+308" name="name7" phi0="1.7976931348623157E+308" r="1.7976931348623157E+308" screw_reduction="1.7976931348623157E+308" t0="1.7976931348623157E+308" theta0="1.7976931348623157E+308" />
-    <passive_joint name="name19" />
-    <passive_joint name="name20" />
-    <passive_joint name="name21" />
-    <use_simulated_gripper_joint />
-    <mechanicalReduction>1.7976931348623157E+308</mechanicalReduction>
-    <actuator name="name7" />
-    <joint name="name7" />
-    <leftActuator mechanicalReduction="-1.2000000476837158" name="name8" />
-    <rightActuator mechanicalReduction="-1.2000000476837158" name="name8" />
-    <flexJoint mechanicalReduction="-1.2000000476837158" name="name8" />
-    <rollJoint mechanicalReduction="-1.2000000476837158" name="name8" />
-    <gap_joint L0="-1.2000000476837158" a="-1.2000000476837158" b="-1.2000000476837158" gear_ratio="-1.2000000476837158" h="-1.2000000476837158" mechanical_reduction="-1.2000000476837158" name="name8" phi0="-1.2000000476837158" r="-1.2000000476837158" screw_reduction="-1.2000000476837158" t0="-1.2000000476837158" theta0="-1.2000000476837158" />
-    <passive_joint name="name22" />
-    <passive_joint name="name23" />
-    <passive_joint name="name24" />
-    <use_simulated_gripper_joint />
-    <mechanicalReduction>-1.2000000476837158</mechanicalReduction>
-    <actuator name="name8" />
-    <joint name="name8" />
-    <leftActuator mechanicalReduction="3.2000000476837158" name="name9" />
-    <rightActuator mechanicalReduction="3.2000000476837158" name="name9" />
-    <flexJoint mechanicalReduction="3.2000000476837158" name="name9" />
-    <rollJoint mechanicalReduction="3.2000000476837158" name="name9" />
-    <gap_joint L0="3.2000000476837158" a="3.2000000476837158" b="3.2000000476837158" gear_ratio="3.2000000476837158" h="3.2000000476837158" mechanical_reduction="3.2000000476837158" name="name9" phi0="3.2000000476837158" r="3.2000000476837158" screw_reduction="3.2000000476837158" t0="3.2000000476837158" theta0="3.2000000476837158" />
-    <passive_joint name="name25" />
-    <passive_joint name="name26" />
-    <passive_joint name="name27" />
-    <use_simulated_gripper_joint />
-    <mechanicalReduction>3.2000000476837158</mechanicalReduction>
-    <actuator name="name9" />
-    <joint name="name9" />
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-  <joint name="name4" type="type4">
-    <mimic joint="joint4" multiplier="1.7976931348623157E+308" offset="1.7976931348623157E+308" />
-    <safety_controller soft_lower_limit="1.7976931348623157E+308" soft_upper_limit="1.7976931348623157E+308" k_position="1.7976931348623157E+308" k_velocity="-0.10000002384185791" />
-    <limit lower="1.7976931348623157E+308" upper="1.7976931348623157E+308" effort="1.7976931348623157E+308" velocity="1.7976931348623157E+308" />
-    <dynamics damping="1.7976931348623157E+308" friction="1.7976931348623157E+308" />
-    <calibration reference_position="-0.10000002384185791" rising="-0.10000002384185791" falling="-0.10000002384185791" />
-    <axis xyz="xyz3" />
-    <child link="link4" />
-    <parent link="link4" />
-    <origin xyz="xyz3" rpy="rpy3" />
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-  <joint name="name5" type="type5">
-    <mimic joint="joint5" multiplier="-0.10000002384185791" offset="-0.10000002384185791" />
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-    <dynamics damping="-0.10000002384185791" friction="-0.10000002384185791" />
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-    <child link="link5" />
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-  <joint name="name6" type="type6">
-    <mimic joint="joint6" multiplier="2.1000000238418579" offset="2.1000000238418579" />
-    <safety_controller soft_lower_limit="2.1000000238418579" soft_upper_limit="2.1000000238418579" k_position="2.1000000238418579" k_velocity="-1.7976931348623157E+308" />
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-    <axis xyz="xyz5" />
-    <child link="link6" />
-    <parent link="link6" />
-    <origin xyz="xyz5" rpy="rpy5" />
-  </joint>
-  <link name="name4" type="type4">
-    <collision name="name4">
-      <origin xyz="xyz3" rpy="rpy3" />
-      <geometry>
-        <box size="size6" />
-      </geometry>
-      <verbose value="value4" />
-    </collision>
-    <visual>
-      <origin xyz="xyz3" rpy="rpy3" />
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-        <box size="size7" />
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-      <material name="name4">
-        <color rgba="rgba3" />
-        <texture filename="http://uri4" />
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-    <inertial>
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-      <mass value="1.7976931348623157E+308" />
-      <origin xyz="xyz3" rpy="rpy3" />
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-  </link>
-  <link name="name5" type="type5">
-    <collision name="name5">
-      <origin xyz="xyz4" rpy="rpy4" />
-      <geometry>
-        <box size="size8" />
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-      <verbose value="value5" />
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-        <color rgba="rgba4" />
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-      <mass value="-0.10000002384185791" />
-      <origin xyz="xyz4" rpy="rpy4" />
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-  </link>
-  <link name="name6" type="type6">
-    <collision name="name6">
-      <origin xyz="xyz5" rpy="rpy5" />
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-      <verbose value="value6" />
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-      <origin xyz="xyz5" rpy="rpy5" />
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-    <color rgba="rgba3" />
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-    <color rgba="rgba5" />
-    <texture filename="http://uri6" />
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-  <transmission name="name4" type="type4">
-    <leftActuator mechanicalReduction="-1.7976931348623157E+308" name="name10" />
-    <rightActuator mechanicalReduction="-1.7976931348623157E+308" name="name10" />
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-    <rollJoint mechanicalReduction="-1.7976931348623157E+308" name="name10" />
-    <gap_joint L0="-1.7976931348623157E+308" a="-1.7976931348623157E+308" b="-1.7976931348623157E+308" gear_ratio="-1.7976931348623157E+308" h="-1.7976931348623157E+308" mechanical_reduction="-1.7976931348623157E+308" name="name10" phi0="-1.7976931348623157E+308" r="-1.7976931348623157E+308" screw_reduction="-1.7976931348623157E+308" t0="-1.7976931348623157E+308" theta0="-1.7976931348623157E+308" />
-    <passive_joint name="name28" />
-    <passive_joint name="name29" />
-    <passive_joint name="name30" />
-    <use_simulated_gripper_joint />
-    <mechanicalReduction>-1.7976931348623157E+308</mechanicalReduction>
-    <actuator name="name10" />
-    <joint name="name10" />
-    <leftActuator mechanicalReduction="1.7976931348623157E+308" name="name11" />
-    <rightActuator mechanicalReduction="1.7976931348623157E+308" name="name11" />
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-    <actuator name="name27" />
-    <joint name="name27" />
-  </transmission>
-</robot>
\ No newline at end of file
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+      k_velocity="1"
+    />
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+    <calibration reference_position="1" rising="1" falling="1" />
+    <axis xyz="1 0 0" />
+    <child link="link1" />
+    <parent link="link1" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
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+      soft_lower_limit="1"
+      soft_upper_limit="1"
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+    />
+    <limit lower="1" upper="1" effort="1" velocity="1" />
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+      reference_position="-1.7976931348623157E+308"
+      rising="-1.7976931348623157E+308"
+      falling="-1.7976931348623157E+308"
+    />
+    <axis xyz="1 0 0" />
+    <child link="link2" />
+    <parent link="link2" />
+    <origin xyz="0 0 1" rpy="0 0 1.57" />
+  </joint>
+  <joint name="name3" type="prismatic">
+    <mimic
+      joint="joint3"
+      multiplier="-1.7976931348623157E+308"
+      offset="-1.7976931348623157E+308"
+    />
+    <safety_controller
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+      soft_upper_limit="-1.7976931348623157E+308"
+      k_position="-1.7976931348623157E+308"
+      k_velocity="1.7976931348623157E+308"
+    />
+    <limit
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+      upper="-1.7976931348623157E+308"
+      effort="-1.7976931348623157E+308"
+      velocity="-1.7976931348623157E+308"
+    />
+    <dynamics
+      damping="-1.7976931348623157E+308"
+      friction="-1.7976931348623157E+308"
+    />
+    <calibration
+      reference_position="1.7976931348623157E+308"
+      rising="1.7976931348623157E+308"
+      falling="1.7976931348623157E+308"
+    />
+    <axis xyz="0 1 0" />
+    <child link="link3" />
+    <parent link="link3" />
+    <origin xyz="0 1 0" rpy="1.57 0 0" />
+  </joint>
+  <link name="name1" type="base_link">
+    <collision name="name1">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0 0 0" />
+      </geometry>
+      <verbose value="value1" />
+    </collision>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="1 1 1" />
+      </geometry>
+      <material name="name1">
+        <color rgba="0 0 0 0" />
+        <texture filename="http://uri1" />
+      </material>
+    </visual>
+    <inertial>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+      <mass value="0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </inertial>
+  </link>
+  <link name="name2" type="arm_link">
+    <collision name="name2">
+      <origin xyz="0 0 1" rpy="0 0 1.57" />
+      <geometry>
+        <box size="0.5 0.5 0.5" />
+      </geometry>
+      <verbose value="value2" />
+    </collision>
+    <visual>
+      <origin xyz="0 0 1" rpy="0 0 1.57" />
+      <geometry>
+        <box size="0.8 0.3 0.2" />
+      </geometry>
+      <material name="name2">
+        <color rgba="1 0 0 1" />
+        <texture filename="http://uri2" />
+      </material>
+    </visual>
+    <inertial>
+      <inertia ixx="1" ixy="1" ixz="1" iyy="1" iyz="1" izz="1" />
+      <mass value="1" />
+      <origin xyz="0 0 1" rpy="0 0 1.57" />
+    </inertial>
+  </link>
+  <link name="name3" type="end_effector">
+    <collision name="name3">
+      <origin xyz="0 1 0" rpy="1.57 0 0" />
+      <geometry>
+        <box size="0.3 0.3 0.3" />
+      </geometry>
+      <verbose value="value3" />
+    </collision>
+    <visual>
+      <origin xyz="0 1 0" rpy="1.57 0 0" />
+      <geometry>
+        <box size="0.2 0.2 0.5" />
+      </geometry>
+      <material name="name3">
+        <color rgba="0 1 0 1" />
+        <texture filename="http://uri3" />
+      </material>
+    </visual>
+    <inertial>
+      <inertia
+        ixx="-1.7976931348623157E+308"
+        ixy="-1.7976931348623157E+308"
+        ixz="-1.7976931348623157E+308"
+        iyy="-1.7976931348623157E+308"
+        iyz="-1.7976931348623157E+308"
+        izz="-1.7976931348623157E+308"
+      />
+      <mass value="-1.7976931348623157E+308" />
+      <origin xyz="0 1 0" rpy="1.57 0 0" />
+    </inertial>
+  </link>
+  <material name="name1">
+    <color rgba="0 0 0 0" />
+    <texture filename="http://uri1" />
+  </material>
+  <material name="name2">
+    <color rgba="1 0 0 1" />
+    <texture filename="http://uri2" />
+  </material>
+  <material name="name3">
+    <color rgba="0 1 0 1" />
+    <texture filename="http://uri3" />
+  </material>
+  <transmission name="name1" type="transmission/SimpleTransmission">
+    <leftActuator mechanicalReduction="1" name="name1" />
+    <rightActuator mechanicalReduction="1" name="name1" />
+    <flexJoint mechanicalReduction="1" name="name1" />
+    <rollJoint mechanicalReduction="1" name="name1" />
+    <gap_joint
+      L0="1"
+      a="1"
+      b="1"
+      gear_ratio="1"
+      h="1"
+      mechanical_reduction="1"
+      name="name1"
+      phi0="1"
+      r="1"
+      screw_reduction="1"
+      t0="1"
+      theta0="1"
+    />
+    <passive_joint name="name1" />
+    <passive_joint name="name2" />
+    <passive_joint name="name3" />
+    <use_simulated_gripper_joint />
+    <mechanicalReduction>1</mechanicalReduction>
+    <actuator name="name1" />
+    <joint name="name1" />
+    <leftActuator mechanicalReduction="-1.7976931348623157E+308" name="name2" />
+    <rightActuator
+      mechanicalReduction="-1.7976931348623157E+308"
+      name="name2"
+    />
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+    <rollJoint mechanicalReduction="-1.7976931348623157E+308" name="name2" />
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+      gear_ratio="-1.7976931348623157E+308"
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+      mechanical_reduction="-1.7976931348623157E+308"
+      name="name2"
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+      screw_reduction="-1.7976931348623157E+308"
+      t0="-1.7976931348623157E+308"
+      theta0="-1.7976931348623157E+308"
+    />
+    <passive_joint name="name4" />
+    <passive_joint name="name5" />
+    <passive_joint name="name6" />
+    <use_simulated_gripper_joint />
+    <mechanicalReduction>-1.7976931348623157E+308</mechanicalReduction>
+    <actuator name="name2" />
+    <joint name="name2" />
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+    <rightActuator mechanicalReduction="1.7976931348623157E+308" name="name3" />
+    <flexJoint mechanicalReduction="1.7976931348623157E+308" name="name3" />
+    <rollJoint mechanicalReduction="1.7976931348623157E+308" name="name3" />
+    <gap_joint
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+      gear_ratio="1.7976931348623157E+308"
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+      mechanical_reduction="1.7976931348623157E+308"
+      name="name3"
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+      screw_reduction="1.7976931348623157E+308"
+      t0="1.7976931348623157E+308"
+      theta0="1.7976931348623157E+308"
+    />
+    <passive_joint name="name7" />
+    <passive_joint name="name8" />
+    <passive_joint name="name9" />
+    <use_simulated_gripper_joint />
+    <mechanicalReduction>1.7976931348623157E+308</mechanicalReduction>
+    <actuator name="name3" />
+    <joint name="name3" />
+  </transmission>
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+    <rightActuator mechanicalReduction="-0.10000002384185791" name="name4" />
+    <flexJoint mechanicalReduction="-0.10000002384185791" name="name4" />
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+      screw_reduction="-0.10000002384185791"
+      t0="-0.10000002384185791"
+      theta0="-0.10000002384185791"
+    />
+    <passive_joint name="name10" />
+    <passive_joint name="name11" />
+    <passive_joint name="name12" />
+    <use_simulated_gripper_joint />
+    <mechanicalReduction>-0.10000002384185791</mechanicalReduction>
+    <actuator name="name4" />
+    <joint name="name4" />
+    <leftActuator mechanicalReduction="2.1000000238418579" name="name5" />
+    <rightActuator mechanicalReduction="2.1000000238418579" name="name5" />
+    <flexJoint mechanicalReduction="2.1000000238418579" name="name5" />
+    <rollJoint mechanicalReduction="2.1000000238418579" name="name5" />
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+    />
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+    <passive_joint name="name14" />
+    <passive_joint name="name15" />
+    <use_simulated_gripper_joint />
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+    <actuator name="name5" />
+    <joint name="name5" />
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+    <rightActuator
+      mechanicalReduction="-1.7976931348623157E+308"
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+    <flexJoint mechanicalReduction="-1.7976931348623157E+308" name="name6" />
+    <rollJoint mechanicalReduction="-1.7976931348623157E+308" name="name6" />
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+      theta0="-1.7976931348623157E+308"
+    />
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+    <passive_joint name="name17" />
+    <passive_joint name="name18" />
+    <use_simulated_gripper_joint />
+    <mechanicalReduction>-1.7976931348623157E+308</mechanicalReduction>
+    <actuator name="name6" />
+    <joint name="name6" />
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+  <transmission name="name3" type="transmission/SimpleTransmission">
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+    <rightActuator mechanicalReduction="1.7976931348623157E+308" name="name7" />
+    <flexJoint mechanicalReduction="1.7976931348623157E+308" name="name7" />
+    <rollJoint mechanicalReduction="1.7976931348623157E+308" name="name7" />
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+    />
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+      theta0="-1.2000000476837158"
+    />
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+    <use_simulated_gripper_joint />
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+      theta0="3.2000000476837158"
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+    <use_simulated_gripper_joint />
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+    <actuator name="name9" />
+    <joint name="name9" />
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+      falling="-0.10000002384185791"
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+    <parent link="link4" />
+    <origin xyz="1 0 0" rpy="0 1.57 0" />
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+      offset="-0.10000002384185791"
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+      upper="-0.10000002384185791"
+      effort="-0.10000002384185791"
+      velocity="-0.10000002384185791"
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+      falling="2.1000000238418579"
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