From 0aa935afc15da7d2d4899397dded1c4afb8b373f Mon Sep 17 00:00:00 2001
From: Jake Wilkinson <realrobotshk@gmail.com>
Date: Sat, 22 Nov 2025 22:18:38 +0800
Subject: [PATCH] modular input system and save/load to indexedDB

---
 .../LittleSophia/urdf/LittleSophia_copy.urdf  | 643 ++++++++++++++++++
 1 file changed, 643 insertions(+)
 create mode 100644 public/robots/LittleSophia/urdf/LittleSophia_copy.urdf

diff --git a/public/robots/LittleSophia/urdf/LittleSophia_copy.urdf b/public/robots/LittleSophia/urdf/LittleSophia_copy.urdf
new file mode 100644
index 0000000..3a42b62
--- /dev/null
+++ b/public/robots/LittleSophia/urdf/LittleSophia_copy.urdf
@@ -0,0 +1,643 @@
+<robot name="robot">
+  <link name="base_footprint"/>
+  <!-- <joint name="base_joint" type="fixed">
+    <parent link="base_footprint" />
+    <child link="base_link" />
+    <origin xyz="0 0 0.11" rpy="0 0 0" />
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
+  </joint> -->
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Torso_.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="base_link-material">
+        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.1 0.05 0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="1"/>
+      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666"/>
+    </inertial>
+  </link>
+  <joint name="base_link_to_upper_arm_right" type="revolute">
+    <parent link="base_link"/>
+    <child link="upper_arm_right"/>
+    <origin xyz="0.04 0 0.048" rpy="0 0 0"/>
+    <axis xyz="-0.9997 -0.0114 0.0229"/>
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+  </joint>
+  <link name="upper_arm_right">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Arm_Right.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="upper_arm_right-material">
+        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.03" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.03 0.03 0.06"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0.03" rpy="0 0 0"/>
+      <mass value="1"/>
+      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666"/>
+    </inertial>
+  </link>
+
+
+  <!-- Left Upper Arm -->
+  <joint name="base_link_to_upper_arm_left" type="revolute">
+    <parent link="base_link"/>
+    <child link="upper_arm_left"/>
+    <origin xyz="-0.04 0 0.048" rpy="0 0 0"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+  </joint>
+
+  <link name="upper_arm_left">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Arm_Left.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="upper_arm_left-material">
+        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.03" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.03 0.03 0.06"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0.03" rpy="0 0 0"/>
+      <mass value="1"/>
+      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666"/>
+    </inertial>
+  </link>
+
+  <joint name="base_link_to_hip_right" type="revolute">
+    <parent link="base_link"/>
+    <child link="hip_right"/>
+    <origin xyz="0.024 0.005 -0.023" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+  </joint>
+  <link name="hip_right">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Hip_Right.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="upper_leg_right-material">
+        <color rgba="0.0021 0.0497 0.4851 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.04 0.04 0.07"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <mass value="1"/>
+      <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
+    </inertial>
+  </link>
+
+  <joint name="hip_right_to_upper_leg_right" type="revolute">
+    <parent link="hip_right"/>
+    <child link="upper_leg_right"/>
+    <origin xyz="0.009 0.0 -0.023" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+  </joint>
+
+  <link name="upper_leg_right">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Upper_Leg_Right.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="upper_leg_right-material">
+        <color rgba="0.0021 0.0497 0.4851 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.04 0.04 0.07"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <mass value="1"/>
+      <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
+    </inertial>
+  </link>
+
+
+  <!-- Upper leg to lower leg roll link (pivot at upper gear center) -->
+  <joint name="upper_leg_right_to_lower_leg_right_roll" type="revolute">
+    <parent link="upper_leg_right"/>
+    <child link="lower_leg_right_roll_link"/>
+    <origin xyz="0.0 0.007 -0.028" rpy="0 0 0"/> <!-- upper gear center -->
+    <axis xyz="1 0 0"/> <!-- rolling axis -->
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+  </joint>
+
+  <link name="lower_leg_right_roll_link"/>
+
+  <!-- Lower leg roll link to actual lower leg (pivot at lower gear center) -->
+  <joint name="lower_leg_roll_to_lower_leg_right" type="revolute">
+    <parent link="lower_leg_right_roll_link"/>
+    <child link="lower_leg_right"/>
+    <origin xyz="-0.001 -0.0025 -0.029" rpy="-0.35 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+    <mimic joint="upper_leg_right_to_lower_leg_right_roll" multiplier="1.1" offset="0"/>
+  </joint>
+
+
+  <link name="lower_leg_right">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Lower_Leg_Right.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="lower_leg_right-material">
+        <color rgba="0.0021 0.0497 0.4851 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.04 0.04 0.07"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <mass value="1"/>
+      <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
+    </inertial>
+  </link>
+
+
+  <joint name="lower_leg_right_to_foot_right" type="revolute">
+    <parent link="lower_leg_right"/>
+    <child link="foot_right"/>
+    <origin xyz="0 0 -0.043" rpy="0 0 0"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+  </joint>
+
+  <link name="foot_right">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Foot_Right.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="foot_right-material">
+        <color rgba="0.0021 0.0497 0.4851 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.04 0.08 0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
+      <mass value="1"/>
+      <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
+    </inertial>
+  </link>
+
+
+  <!-- Left Upper Leg -->
+  <joint name="base_link_to_hip_left" type="revolute">
+    <parent link="base_link"/>
+    <child link="hip_left"/>
+    <origin xyz="-0.024 0.005 -0.023" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+  </joint>
+  <link name="hip_left">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Hip_Left.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="upper_leg_left-material">
+        <color rgba="0.0021 0.0497 0.4851 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.04 0.04 0.07"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <mass value="1"/>
+      <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
+    </inertial>
+  </link>
+
+  <joint name="hip_left_to_upper_leg_left" type="revolute">
+    <parent link="hip_left"/>
+    <child link="upper_leg_left"/>
+    <origin xyz="-0.009 0.0 -0.023" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+  </joint>
+
+  <link name="upper_leg_left">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Upper_Leg_Left.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="upper_leg_left-material">
+        <color rgba="0.0021 0.0497 0.4851 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.04 0.04 0.07"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <mass value="1"/>
+      <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
+    </inertial>
+  </link>
+
+  <!-- Upper leg to lower leg roll link (pivot at upper gear center) -->
+  <joint name="upper_leg_left_to_lower_leg_left_roll" type="revolute">
+    <parent link="upper_leg_left"/>
+    <child link="lower_leg_left_roll_link"/>
+    <origin xyz="0.0 0.007 -0.028" rpy="0 0 0"/> <!-- upper gear center -->
+    <axis xyz="1 0 0"/> <!-- rolling axis -->
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+  </joint>
+
+  <link name="lower_leg_left_roll_link"/>
+
+  <!-- Lower leg roll link to actual lower leg (pivot at lower gear center) -->
+  <joint name="lower_leg_roll_to_lower_leg_left" type="revolute">
+    <parent link="lower_leg_left_roll_link"/>
+    <child link="lower_leg_left"/>
+    <origin xyz="-0.001 -0.0025 -0.029" rpy="-0.35 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+    <mimic joint="upper_leg_left_to_lower_leg_left_roll" multiplier="1.1" offset="0"/>
+  </joint>
+
+
+  <link name="lower_leg_left">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Lower_Leg_Left.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="lower_leg_right-material">
+        <color rgba="0.0021 0.0497 0.4851 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.04 0.04 0.07"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <mass value="1"/>
+      <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
+    </inertial>
+  </link>
+
+  <joint name="lower_leg_left_to_foot_left" type="revolute">
+    <parent link="lower_leg_left"/>
+    <child link="foot_left"/>
+    <origin xyz="0 0 -0.043" rpy="0 0 0"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+  </joint>
+
+
+  <link name="foot_left">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Foot_Left.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="foot_left-material">
+        <color rgba="0.0021 0.0497 0.4851 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.04 0.08 0.02"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
+      <mass value="1"/>
+      <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
+    </inertial>
+  </link>
+
+
+  <!-- Spine to yaw joint -->
+  <joint name="base_link_to_neck_yaw" type="revolute">
+    <parent link="base_link"/>
+    <child link="neck_yaw_link"/>
+    <origin xyz="0 0 0.065" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/> <!-- yaw/pan around Z -->
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+  </joint>
+  <link name="neck_yaw_link"/>
+
+  <!-- Pitch joint -->
+  <joint name="neck_pitch" type="revolute">
+    <parent link="neck_yaw_link"/>
+    <child link="neck_pitch_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/> <!-- pitch around X -->
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+  </joint>
+  <link name="neck_pitch_link"/>
+
+  <!-- Roll joint -->
+  <joint name="neck_roll" type="revolute">
+    <parent link="neck_pitch_link"/>
+    <child link="head"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/> <!-- roll around Y -->
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+  </joint>
+
+  <!-- Head (includes fused neck geometry) -->
+  <link name="head">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Face.glb" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="head-material">
+        <color rgba="0.002 0.05 0.48 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.06 0.06 0.06"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="1"/>
+      <inertia ixx="0.16" ixy="0" ixz="0" iyy="0.16" iyz="0" izz="0.16"/>
+    </inertial>
+  </link>
+
+
+  <transmission name="upper_arm_left">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="base_link_to_upper_arm_left">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="upper_arm_left">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+  <transmission name="hand_left">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="lower_arm_left_to_hand_left">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="hand_left">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+
+  <transmission name="upper_arm_right">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="base_link_to_upper_arm_right">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="upper_arm_right">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+
+
+  <transmission name="hip_right">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="base_link_to_hip_right">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="hip_right">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+
+  <transmission name="upper_leg_right">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="hip_right_to_upper_leg_right">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="upper_leg_right">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+
+  <transmission name="lower_leg_right">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="upper_leg_right_to_lower_leg_right_roll">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="lower_leg_right">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+
+  <transmission name="foot_right">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="lower_leg_right_to_foot_right">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="foot_right">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+
+  <transmission name="hip_left">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="base_link_to_hip_left">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="hip_left">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+
+  <transmission name="upper_leg_left">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="hip_left_to_upper_leg_left">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="upper_leg_left">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+
+  <transmission name="lower_leg_left">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="upper_leg_left_to_lower_leg_left_roll">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="lower_leg_left">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+
+  
+  <transmission name="foot_left">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="lower_leg_left_to_foot_left">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="foot_left">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+
+  <!-- Yaw (pan) transmission -->
+  <transmission name="neck_yaw_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="base_link_to_neck_yaw">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="neck_yaw">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+
+  <!-- Pitch transmission -->
+  <transmission name="neck_pitch_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="neck_pitch">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="neck_pitch">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>500</encoderValidMin>
+      <encoderValidMax>4095</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+
+  <!-- Roll transmission -->
+  <transmission name="neck_roll_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="neck_roll">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="neck_roll">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>500</encoderValidMin>
+      <encoderValidMax>4095</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+
+
+</robot>
\ No newline at end of file