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<?xml version="1.0" ?> |
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<robot name="SMPLX-female"> |
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|
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<link name="pelvis"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="3.141593 -0.000000 0.000000" xyz="0.000000 -0.048632 0.000000"/> |
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<geometry> |
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<box size="0.02 0.08948259830474853 0.02"/> |
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</geometry> |
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<material name="mat_col_(0.2, 0.5, 0.5)"> |
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<color rgba="0.20 0.50 0.50 1.0"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="3.141593 -0.000000 0.000000" xyz="0.000000 -0.048632 0.000000"/> |
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<geometry> |
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<box size="0.02 0.08948259830474853 0.02"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="left_hip"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="3.141593 -0.000000 0.000000" xyz="0.000000 -0.182402 0.000000"/> |
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<geometry> |
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<box size="0.02 0.335619158744812 0.02"/> |
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</geometry> |
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<material name="mat_col_(0.2, 0.5, 0.5)"> |
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<color rgba="0.20 0.50 0.50 1.0"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="3.141593 -0.000000 0.000000" xyz="0.000000 -0.182402 0.000000"/> |
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<geometry> |
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<box size="0.02 0.335619158744812 0.02"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="left_knee"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="3.141593 -0.000000 0.000000" xyz="0.000000 -0.183500 0.000000"/> |
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<geometry> |
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<box size="0.02 0.3376406979560852 0.02"/> |
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</geometry> |
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<material name="mat_col_(0.2, 0.5, 0.5)"> |
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<color rgba="0.20 0.50 0.50 1.0"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="3.141593 -0.000000 0.000000" xyz="0.000000 -0.183500 0.000000"/> |
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<geometry> |
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<box size="0.02 0.3376406979560852 0.02"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="left_ankle"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="1.570796 -0.000000 1.570796" xyz="0.000000 -0.000000 0.056559"/> |
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<geometry> |
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<box size="0.02 0.10406767606735229 0.02"/> |
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</geometry> |
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<material name="mat_col_(0.2, 0.5, 0.5)"> |
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<color rgba="0.20 0.50 0.50 1.0"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="1.570796 -0.000000 1.570796" xyz="0.000000 -0.000000 0.056559"/> |
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<geometry> |
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<box size="0.02 0.10406767606735229 0.02"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="left_foot"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="1.570796 -0.000000 1.570796" xyz="0.000000 -0.000000 0.056559"/> |
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<geometry> |
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<box size="0.02 0.1040677034854889 0.02"/> |
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</geometry> |
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<material name="mat_col_(0.2, 0.5, 0.5)"> |
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<color rgba="0.20 0.50 0.50 1.0"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="1.570796 -0.000000 1.570796" xyz="0.000000 -0.000000 0.056559"/> |
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<geometry> |
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<box size="0.02 0.1040677034854889 0.02"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="right_hip"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="3.141593 -0.000000 0.000000" xyz="0.000000 -0.180147 0.000000"/> |
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<geometry> |
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<box size="0.02 0.3314697802066803 0.02"/> |
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</geometry> |
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<material name="mat_col_(0.2, 0.5, 0.5)"> |
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<color rgba="0.20 0.50 0.50 1.0"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="3.141593 -0.000000 0.000000" xyz="0.000000 -0.180147 0.000000"/> |
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<geometry> |
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<box size="0.02 0.3314697802066803 0.02"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="right_knee"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="3.141593 -0.000000 0.000000" xyz="0.000000 -0.179282 0.000000"/> |
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<geometry> |
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<box size="0.02 0.329878157377243 0.02"/> |
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</geometry> |
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<material name="mat_col_(0.2, 0.5, 0.5)"> |
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<color rgba="0.20 0.50 0.50 1.0"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="3.141593 -0.000000 0.000000" xyz="0.000000 -0.179282 0.000000"/> |
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<geometry> |
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<box size="0.02 0.329878157377243 0.02"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="right_ankle"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="1.570796 0.000000 0.000000" xyz="0.000000 -0.000000 0.054098"/> |
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<geometry> |
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<box size="0.02 0.09954027682542801 0.02"/> |
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</geometry> |
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<material name="mat_col_(0.2, 0.5, 0.5)"> |
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<color rgba="0.20 0.50 0.50 1.0"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="1.570796 0.000000 0.000000" xyz="0.000000 -0.000000 0.054098"/> |
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<geometry> |
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<box size="0.02 0.09954027682542801 0.02"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="right_foot"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="1.570796 0.000000 0.000000" xyz="0.000000 -0.000000 0.054098"/> |
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<geometry> |
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<box size="0.02 0.09954028367996216 0.02"/> |
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</geometry> |
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<material name="mat_col_(0.2, 0.5, 0.5)"> |
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<color rgba="0.20 0.50 0.50 1.0"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="1.570796 0.000000 0.000000" xyz="0.000000 -0.000000 0.054098"/> |
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<geometry> |
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<box size="0.02 0.09954028367996216 0.02"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="spine1"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.058503 0.000000"/> |
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<geometry> |
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<box size="0.02 0.10764559209346772 0.02"/> |
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</geometry> |
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<material name="mat_col_(0.2, 0.5, 0.5)"> |
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<color rgba="0.20 0.50 0.50 1.0"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.058503 0.000000"/> |
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<geometry> |
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<box size="0.02 0.10764559209346772 0.02"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="spine2"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.024385 0.000000"/> |
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<geometry> |
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<box size="0.02 0.044868156015872955 0.02"/> |
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<material name="mat_col_(0.2, 0.5, 0.5)"> |
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<color rgba="0.20 0.50 0.50 1.0"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.024385 0.000000"/> |
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<geometry> |
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<box size="0.02 0.044868156015872955 0.02"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="spine3"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.057652 0.000000"/> |
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<geometry> |
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<box size="0.02 0.10608027011156082 0.02"/> |
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<material name="mat_col_(0.2, 0.5, 0.5)"> |
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<color rgba="0.20 0.50 0.50 1.0"/> |
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</material> |
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</visual> |
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<collision> |
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<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.057652 0.000000"/> |
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<geometry> |
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<box size="0.02 0.10608027011156082 0.02"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="neck"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.075935 0.000000"/> |
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<geometry> |
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<material name="mat_col_(0.2, 0.5, 0.5)"> |
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<color rgba="0.20 0.50 0.50 1.0"/> |
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<collision> |
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<geometry> |
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<box size="0.02 0.13972124755382537 0.02"/> |
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</link> |
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<link name="head"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="1.570796 -0.000000 0.000000" xyz="0.000000 0.000000 0.003695"/> |
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<collision> |
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<geometry> |
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<box size="0.02 0.006799183785915375 0.02"/> |
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</link> |
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<link name="jaw"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="1.570796 -0.000000 0.000000" xyz="0.000000 0.000000 0.003695"/> |
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<geometry> |
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<material name="mat_col_(0.2, 0.5, 0.5)"> |
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<color rgba="0.20 0.50 0.50 1.0"/> |
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</visual> |
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<collision> |
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<origin rpy="1.570796 -0.000000 0.000000" xyz="0.000000 0.000000 0.003695"/> |
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<geometry> |
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<box size="0.02 0.006799184642732143 0.02"/> |
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</link> |
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<link name="left_eye_smplhf"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="1.570796 -0.000000 0.000000" xyz="0.000000 0.000000 0.003695"/> |
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<geometry> |
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<box size="0.02 0.006799187213182449 0.02"/> |
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<material name="mat_col_(0.2, 0.5, 0.5)"> |
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<color rgba="0.20 0.50 0.50 1.0"/> |
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<collision> |
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<origin rpy="1.570796 -0.000000 0.000000" xyz="0.000000 0.000000 0.003695"/> |
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<geometry> |
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<box size="0.02 0.006799187213182449 0.02"/> |
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</link> |
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<link name="right_eye_smplhf"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="1.570796 -0.000000 0.000000" xyz="0.000000 0.000000 0.003695"/> |
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<geometry> |
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<box size="0.02 0.006799187213182449 0.02"/> |
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<material name="mat_col_(0.2, 0.5, 0.5)"> |
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<color rgba="0.20 0.50 0.50 1.0"/> |
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<collision> |
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<origin rpy="1.570796 -0.000000 0.000000" xyz="0.000000 0.000000 0.003695"/> |
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<geometry> |
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<box size="0.02 0.006799187213182449 0.02"/> |
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</link> |
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<link name="left_collar"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<origin rpy="-1.570796 -1.570796 0.000000" xyz="0.047700 0.000000 0.000000"/> |
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<geometry> |
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<material name="mat_col_(0.2, 0.5, 0.5)"> |
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<color rgba="0.20 0.50 0.50 1.0"/> |
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<collision> |
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<origin rpy="-1.570796 -1.570796 0.000000" xyz="0.047700 0.000000 0.000000"/> |
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<geometry> |
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<box size="0.02 0.08776726484298707 0.02"/> |
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</link> |
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<link name="left_shoulder"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<visual> |
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<geometry> |
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<box size="0.02 0.24999075531959533 0.02"/> |
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<box size="0.02 0.24999075531959533 0.02"/> |
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<link name="left_elbow"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<box size="0.02 0.20173620581626892 0.02"/> |
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<link name="left_wrist"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<link name="left_index1"> |
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<mass value="5.000000"/> |
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<link name="left_index2"> |
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
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<mass value="5.000000"/> |
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<link name="left_index3"> |
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|
<material name="mat_col_(0.2, 0.5, 0.5)"> |
|
<color rgba="0.20 0.50 0.50 1.0"/> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="-1.570796 1.570796 0.000000" xyz="-0.008916 0.000000 0.000000"/> |
|
<geometry> |
|
<box size="0.02 0.016405372992157937 0.02"/> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<link name="right_pinky2"> |
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
|
<mass value="5.000000"/> |
|
<visual> |
|
<origin rpy="-1.570796 1.570796 0.000000" xyz="-0.008985 0.000000 0.000000"/> |
|
<geometry> |
|
<box size="0.02 0.016532646268606187 0.02"/> |
|
</geometry> |
|
<material name="mat_col_(0.2, 0.5, 0.5)"> |
|
<color rgba="0.20 0.50 0.50 1.0"/> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="-1.570796 1.570796 0.000000" xyz="-0.008985 0.000000 0.000000"/> |
|
<geometry> |
|
<box size="0.02 0.016532646268606187 0.02"/> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<link name="right_pinky3"> |
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
|
<mass value="5.000000"/> |
|
<visual> |
|
<origin rpy="-1.570796 1.570796 0.000000" xyz="-0.008985 0.000000 0.000000"/> |
|
<geometry> |
|
<box size="0.02 0.016532646268606187 0.02"/> |
|
</geometry> |
|
<material name="mat_col_(0.2, 0.5, 0.5)"> |
|
<color rgba="0.20 0.50 0.50 1.0"/> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="-1.570796 1.570796 0.000000" xyz="-0.008985 0.000000 0.000000"/> |
|
<geometry> |
|
<box size="0.02 0.016532646268606187 0.02"/> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<link name="right_ring1"> |
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
|
<mass value="5.000000"/> |
|
<visual> |
|
<origin rpy="-1.570796 1.570796 0.000000" xyz="-0.013153 0.000000 0.000000"/> |
|
<geometry> |
|
<box size="0.02 0.024202157109975815 0.02"/> |
|
</geometry> |
|
<material name="mat_col_(0.2, 0.5, 0.5)"> |
|
<color rgba="0.20 0.50 0.50 1.0"/> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="-1.570796 1.570796 0.000000" xyz="-0.013153 0.000000 0.000000"/> |
|
<geometry> |
|
<box size="0.02 0.024202157109975815 0.02"/> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<link name="right_ring2"> |
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
|
<mass value="5.000000"/> |
|
<visual> |
|
<origin rpy="-1.570796 1.570796 0.000000" xyz="-0.011151 0.000000 0.000000"/> |
|
<geometry> |
|
<box size="0.02 0.02051710642874241 0.02"/> |
|
</geometry> |
|
<material name="mat_col_(0.2, 0.5, 0.5)"> |
|
<color rgba="0.20 0.50 0.50 1.0"/> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="-1.570796 1.570796 0.000000" xyz="-0.011151 0.000000 0.000000"/> |
|
<geometry> |
|
<box size="0.02 0.02051710642874241 0.02"/> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<link name="right_ring3"> |
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
|
<mass value="5.000000"/> |
|
<visual> |
|
<origin rpy="-1.570796 1.570796 0.000000" xyz="-0.011151 0.000000 0.000000"/> |
|
<geometry> |
|
<box size="0.02 0.02051710642874241 0.02"/> |
|
</geometry> |
|
<material name="mat_col_(0.2, 0.5, 0.5)"> |
|
<color rgba="0.20 0.50 0.50 1.0"/> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="-1.570796 1.570796 0.000000" xyz="-0.011151 0.000000 0.000000"/> |
|
<geometry> |
|
<box size="0.02 0.02051710642874241 0.02"/> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<link name="right_thumb1"> |
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
|
<mass value="5.000000"/> |
|
<visual> |
|
<origin rpy="1.570796 -0.000000 -3.141593" xyz="0.000000 0.000000 0.013700"/> |
|
<geometry> |
|
<box size="0.02 0.025208757445216178 0.02"/> |
|
</geometry> |
|
<material name="mat_col_(0.2, 0.5, 0.5)"> |
|
<color rgba="0.20 0.50 0.50 1.0"/> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="1.570796 -0.000000 -3.141593" xyz="0.000000 0.000000 0.013700"/> |
|
<geometry> |
|
<box size="0.02 0.025208757445216178 0.02"/> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<link name="right_thumb2"> |
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
|
<mass value="5.000000"/> |
|
<visual> |
|
<origin rpy="-1.570796 1.570796 0.000000" xyz="-0.012040 0.000000 0.000000"/> |
|
<geometry> |
|
<box size="0.02 0.022153312861919402 0.02"/> |
|
</geometry> |
|
<material name="mat_col_(0.2, 0.5, 0.5)"> |
|
<color rgba="0.20 0.50 0.50 1.0"/> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="-1.570796 1.570796 0.000000" xyz="-0.012040 0.000000 0.000000"/> |
|
<geometry> |
|
<box size="0.02 0.022153312861919402 0.02"/> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<link name="right_thumb3"> |
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> |
|
<mass value="5.000000"/> |
|
<visual> |
|
<origin rpy="-1.570796 1.570796 0.000000" xyz="-0.012040 0.000000 0.000000"/> |
|
<geometry> |
|
<box size="0.02 0.022153309434652328 0.02"/> |
|
</geometry> |
|
<material name="mat_col_(0.2, 0.5, 0.5)"> |
|
<color rgba="0.20 0.50 0.50 1.0"/> |
|
</material> |
|
</visual> |
|
<collision> |
|
<origin rpy="-1.570796 1.570796 0.000000" xyz="-0.012040 0.000000 0.000000"/> |
|
<geometry> |
|
<box size="0.02 0.022153309434652328 0.02"/> |
|
</geometry> |
|
</collision> |
|
</link> |
|
|
|
<joint name="left_hip" type="spherical"> |
|
<parent link="pelvis"/> |
|
<child link="left_hip"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.065085 -0.083559 -0.019213"/> |
|
</joint> |
|
<joint name="left_knee" type="spherical"> |
|
<parent link="left_hip"/> |
|
<child link="left_knee"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.026485 -0.363231 -0.021051"/> |
|
</joint> |
|
<joint name="left_ankle" type="spherical"> |
|
<parent link="left_knee"/> |
|
<child link="left_ankle"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.007525 -0.366539 -0.016798"/> |
|
</joint> |
|
<joint name="left_foot" type="spherical"> |
|
<parent link="left_ankle"/> |
|
<child link="left_foot"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.020210 -0.042187 0.102991"/> |
|
</joint> |
|
<joint name="right_hip" type="spherical"> |
|
<parent link="pelvis"/> |
|
<child link="right_hip"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.064136 -0.090242 -0.020556"/> |
|
</joint> |
|
<joint name="right_knee" type="spherical"> |
|
<parent link="right_hip"/> |
|
<child link="right_knee"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.030036 -0.358705 -0.015491"/> |
|
</joint> |
|
<joint name="right_ankle" type="spherical"> |
|
<parent link="right_knee"/> |
|
<child link="right_ankle"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.003368 -0.358322 -0.012706"/> |
|
</joint> |
|
<joint name="right_foot" type="spherical"> |
|
<parent link="right_ankle"/> |
|
<child link="right_foot"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.016472 -0.045862 0.096601"/> |
|
</joint> |
|
<joint name="spine1" type="spherical"> |
|
<parent link="pelvis"/> |
|
<child link="spine1"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.004639 0.094661 -0.021864"/> |
|
</joint> |
|
<joint name="spine2" type="spherical"> |
|
<parent link="spine1"/> |
|
<child link="spine2"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.007671 0.116565 -0.006639"/> |
|
</joint> |
|
<joint name="spine3" type="spherical"> |
|
<parent link="spine2"/> |
|
<child link="spine3"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.003799 0.043077 0.022548"/> |
|
</joint> |
|
<joint name="neck" type="spherical"> |
|
<parent link="spine3"/> |
|
<child link="neck"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.005298 0.180808 -0.029379"/> |
|
</joint> |
|
<joint name="head" type="spherical"> |
|
<parent link="neck"/> |
|
<child link="head"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.008188 0.150108 0.021567"/> |
|
</joint> |
|
<joint name="jaw" type="spherical"> |
|
<parent link="head"/> |
|
<child link="jaw"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.002617 -0.002906 -0.006271"/> |
|
</joint> |
|
<joint name="left_eye_smplhf" type="spherical"> |
|
<parent link="head"/> |
|
<child link="left_eye_smplhf"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.027421 0.033311 0.065689"/> |
|
</joint> |
|
<joint name="right_eye_smplhf" type="spherical"> |
|
<parent link="head"/> |
|
<child link="right_eye_smplhf"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.032355 0.033311 0.065687"/> |
|
</joint> |
|
<joint name="left_collar" type="spherical"> |
|
<parent link="spine3"/> |
|
<child link="left_collar"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.047234 0.106019 -0.013225"/> |
|
</joint> |
|
<joint name="left_shoulder" type="spherical"> |
|
<parent link="left_collar"/> |
|
<child link="left_shoulder"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.083111 0.041498 -0.021713"/> |
|
</joint> |
|
<joint name="left_elbow" type="spherical"> |
|
<parent link="left_shoulder"/> |
|
<child link="left_elbow"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.264716 -0.055787 -0.025490"/> |
|
</joint> |
|
<joint name="left_wrist" type="spherical"> |
|
<parent link="left_elbow"/> |
|
<child link="left_wrist"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.219188 0.005863 0.002282"/> |
|
</joint> |
|
<joint name="left_index1" type="spherical"> |
|
<parent link="left_wrist"/> |
|
<child link="left_index1"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.094514 -0.014671 0.018931"/> |
|
</joint> |
|
<joint name="left_index2" type="spherical"> |
|
<parent link="left_index1"/> |
|
<child link="left_index2"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.030041 0.002442 0.002653"/> |
|
</joint> |
|
<joint name="left_index3" type="spherical"> |
|
<parent link="left_index2"/> |
|
<child link="left_index3"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.021367 -0.001389 0.000444"/> |
|
</joint> |
|
<joint name="left_middle1" type="spherical"> |
|
<parent link="left_wrist"/> |
|
<child link="left_middle1"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.100977 -0.012606 -0.001898"/> |
|
</joint> |
|
<joint name="left_middle2" type="spherical"> |
|
<parent link="left_middle1"/> |
|
<child link="left_middle2"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.028460 0.001145 -0.003702"/> |
|
</joint> |
|
<joint name="left_middle3" type="spherical"> |
|
<parent link="left_middle2"/> |
|
<child link="left_middle3"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.022180 -0.000484 -0.003570"/> |
|
</joint> |
|
<joint name="left_pinky1" type="spherical"> |
|
<parent link="left_wrist"/> |
|
<child link="left_pinky1"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.077369 -0.019315 -0.037448"/> |
|
</joint> |
|
<joint name="left_pinky2" type="spherical"> |
|
<parent link="left_pinky1"/> |
|
<child link="left_pinky2"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.013767 -0.000300 -0.011331"/> |
|
</joint> |
|
<joint name="left_pinky3" type="spherical"> |
|
<parent link="left_pinky2"/> |
|
<child link="left_pinky3"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.014115 -0.000688 -0.011102"/> |
|
</joint> |
|
<joint name="left_ring1" type="spherical"> |
|
<parent link="left_wrist"/> |
|
<child link="left_ring1"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.089684 -0.014849 -0.022682"/> |
|
</joint> |
|
<joint name="left_ring2" type="spherical"> |
|
<parent link="left_ring1"/> |
|
<child link="left_ring2"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.025776 0.001568 -0.005021"/> |
|
</joint> |
|
<joint name="left_ring3" type="spherical"> |
|
<parent link="left_ring2"/> |
|
<child link="left_ring3"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.021254 -0.000804 -0.006708"/> |
|
</joint> |
|
<joint name="left_thumb1" type="spherical"> |
|
<parent link="left_wrist"/> |
|
<child link="left_thumb1"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.039233 -0.021027 0.024299"/> |
|
</joint> |
|
<joint name="left_thumb2" type="spherical"> |
|
<parent link="left_thumb1"/> |
|
<child link="left_thumb2"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.016116 0.000491 0.022155"/> |
|
</joint> |
|
<joint name="left_thumb3" type="spherical"> |
|
<parent link="left_thumb2"/> |
|
<child link="left_thumb3"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="0.019199 -0.005395 0.013494"/> |
|
</joint> |
|
<joint name="right_collar" type="spherical"> |
|
<parent link="spine3"/> |
|
<child link="right_collar"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.049747 0.102317 -0.018751"/> |
|
</joint> |
|
<joint name="right_shoulder" type="spherical"> |
|
<parent link="right_collar"/> |
|
<child link="right_shoulder"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.089435 0.044083 -0.015946"/> |
|
</joint> |
|
<joint name="right_elbow" type="spherical"> |
|
<parent link="right_shoulder"/> |
|
<child link="right_elbow"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.255087 -0.051267 -0.018893"/> |
|
</joint> |
|
<joint name="right_wrist" type="spherical"> |
|
<parent link="right_elbow"/> |
|
<child link="right_wrist"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.220189 0.001722 -0.005808"/> |
|
</joint> |
|
<joint name="right_index1" type="spherical"> |
|
<parent link="right_wrist"/> |
|
<child link="right_index1"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.093461 -0.013931 0.020183"/> |
|
</joint> |
|
<joint name="right_index2" type="spherical"> |
|
<parent link="right_index1"/> |
|
<child link="right_index2"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.030041 0.002441 0.002652"/> |
|
</joint> |
|
<joint name="right_index3" type="spherical"> |
|
<parent link="right_index2"/> |
|
<child link="right_index3"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.021366 -0.001390 0.000444"/> |
|
</joint> |
|
<joint name="right_middle1" type="spherical"> |
|
<parent link="right_wrist"/> |
|
<child link="right_middle1"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.099924 -0.011867 -0.000648"/> |
|
</joint> |
|
<joint name="right_middle2" type="spherical"> |
|
<parent link="right_middle1"/> |
|
<child link="right_middle2"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.028460 0.001145 -0.003702"/> |
|
</joint> |
|
<joint name="right_middle3" type="spherical"> |
|
<parent link="right_middle2"/> |
|
<child link="right_middle3"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.022179 -0.000485 -0.003571"/> |
|
</joint> |
|
<joint name="right_pinky1" type="spherical"> |
|
<parent link="right_wrist"/> |
|
<child link="right_pinky1"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.076317 -0.018577 -0.036198"/> |
|
</joint> |
|
<joint name="right_pinky2" type="spherical"> |
|
<parent link="right_pinky1"/> |
|
<child link="right_pinky2"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.013766 -0.000299 -0.011331"/> |
|
</joint> |
|
<joint name="right_pinky3" type="spherical"> |
|
<parent link="right_pinky2"/> |
|
<child link="right_pinky3"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.014114 -0.000687 -0.011102"/> |
|
</joint> |
|
<joint name="right_ring1" type="spherical"> |
|
<parent link="right_wrist"/> |
|
<child link="right_ring1"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.088632 -0.014110 -0.021432"/> |
|
</joint> |
|
<joint name="right_ring2" type="spherical"> |
|
<parent link="right_ring1"/> |
|
<child link="right_ring2"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.025775 0.001569 -0.005021"/> |
|
</joint> |
|
<joint name="right_ring3" type="spherical"> |
|
<parent link="right_ring2"/> |
|
<child link="right_ring3"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.021253 -0.000804 -0.006709"/> |
|
</joint> |
|
<joint name="right_thumb1" type="spherical"> |
|
<parent link="right_wrist"/> |
|
<child link="right_thumb1"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.038178 -0.020290 0.025553"/> |
|
</joint> |
|
<joint name="right_thumb2" type="spherical"> |
|
<parent link="right_thumb1"/> |
|
<child link="right_thumb2"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.016115 0.000492 0.022155"/> |
|
</joint> |
|
<joint name="right_thumb3" type="spherical"> |
|
<parent link="right_thumb2"/> |
|
<child link="right_thumb3"/> |
|
<limit effort="100.0000" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.0000"/> |
|
<origin rpy="0 0 0" xyz="-0.019201 -0.005395 0.013492"/> |
|
</joint> |
|
</robot> |
|
|
