lap_belt_* -> torso_*

See robotology/icub-main#57

data/urdf_paris/icub_simple/icub_simple.xml

@@ -10,7 +10,7 @@
 		<collision>
 			<geometry>
 				<mesh filename="meshes/collision/icub_simple_collision_root_link.dae"/>
-			</geometry>
+			</geometry>l
 		</collision>
 		<inertial>
 			<mass value="0.20297"/>
@@ -126,7 +126,7 @@
 			<origin rpy="1.4159195657 0.0 1.5707963268" xyz="-0.0047312139 0.0 0.0151082333"/>
 		</inertial>
 	</link>
-	<link name="lap_belt_1">
+	<link name="torso_1">
 		<visual>
 			<geometry>
 				<mesh filename="meshes/visual/icub_simple_lap_belt_1.dae"/>
@@ -144,7 +144,7 @@
 			<origin rpy="0.0 0.0 -0.7853981634" xyz="-0.0383 -0.0173 0.0"/>
 		</inertial>
 	</link>
-	<link name="lap_belt_2">
+	<link name="torso_2">
 		<inertial>
 			<mass value="0.91179"/>
 			<inertia ixx="0.00093397689" ixy="0.0" ixz="0.0" iyy="0.00093397689" iyz="0.0" izz="0.000438115095"/>
@@ -583,20 +583,20 @@
 	</joint>
 	<joint name="torso_pitch" type="revolute">
 		<parent link="root_link"/>
-		<child link="lap_belt_1"/>
+		<child link="torso_1"/>
 		<origin rpy="1.5707963268 -1.5707963268 0.0" xyz="0.0 0.0 0.0"/>
 		<axis xyz="0 0 1"/>
 		<limit effort="36.0" lower="-0.383972435439" upper="1.46607657168" velocity="100.0"/>
 	</joint>
 	<joint name="torso_roll" type="revolute">
-		<parent link="lap_belt_1"/>
-		<child link="lap_belt_2"/>
+		<parent link="torso_1"/>
+		<child link="torso_2"/>
 		<origin rpy="1.5707963268 0.0 0.0" xyz="0.032 0.0 0.0"/>
 		<axis xyz="0 0 1"/>
 		<limit effort="80.0" lower="-0.680678408278" upper="0.680678408278" velocity="100.0"/>
 	</joint>
 	<joint name="torso_yaw" type="revolute">
-		<parent link="lap_belt_2"/>
+		<parent link="torso_2"/>
 		<child link="chest"/>
 		<origin rpy="1.5707963268 -0.0 -1.5707963268" xyz="0.0 0.0 0.0"/>
 		<axis xyz="0 0 1"/>