<?xml version="1.0" ?>
<robot name="SMPLX-female">
	<!--LINKS-->
	<link name="pelvis">
		<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
		<mass value="5.000000"/>
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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="3.141593 -0.000000 0.000000" xyz="0.000000 -0.048632 0.000000"/>
			<geometry>
				<box size="0.02 0.08948259830474853 0.02"/>
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		</collision>
	</link>
	<link name="left_hip">
		<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
		<mass value="5.000000"/>
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			<geometry>
				<box size="0.02 0.335619158744812 0.02"/>
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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="3.141593 -0.000000 0.000000" xyz="0.000000 -0.182402 0.000000"/>
			<geometry>
				<box size="0.02 0.335619158744812 0.02"/>
			</geometry>
		</collision>
	</link>
	<link name="left_knee">
		<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="3.141593 -0.000000 0.000000" xyz="0.000000 -0.183500 0.000000"/>
			<geometry>
				<box size="0.02 0.3376406979560852 0.02"/>
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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="3.141593 -0.000000 0.000000" xyz="0.000000 -0.183500 0.000000"/>
			<geometry>
				<box size="0.02 0.3376406979560852 0.02"/>
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		</collision>
	</link>
	<link name="left_ankle">
		<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
		<mass value="5.000000"/>
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			<geometry>
				<box size="0.02 0.10406767606735229 0.02"/>
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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 -0.000000 1.570796" xyz="0.000000 -0.000000 0.056559"/>
			<geometry>
				<box size="0.02 0.10406767606735229 0.02"/>
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		</collision>
	</link>
	<link name="left_foot">
		<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
		<mass value="5.000000"/>
		<visual>
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				<box size="0.02 0.1040677034854889 0.02"/>
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			<material name="mat_col_(0.2, 0.5, 0.5)">
				<color rgba="0.20 0.50 0.50 1.0"/>
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		</visual>
		<collision>
			<origin rpy="1.570796 -0.000000 1.570796" xyz="0.000000 -0.000000 0.056559"/>
			<geometry>
				<box size="0.02 0.1040677034854889 0.02"/>
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		</collision>
	</link>
	<link name="right_hip">
		<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="3.141593 -0.000000 0.000000" xyz="0.000000 -0.180147 0.000000"/>
			<geometry>
				<box size="0.02 0.3314697802066803 0.02"/>
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			<material name="mat_col_(0.2, 0.5, 0.5)">
				<color rgba="0.20 0.50 0.50 1.0"/>
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		</visual>
		<collision>
			<origin rpy="3.141593 -0.000000 0.000000" xyz="0.000000 -0.180147 0.000000"/>
			<geometry>
				<box size="0.02 0.3314697802066803 0.02"/>
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	</link>
	<link name="right_knee">
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		<mass value="5.000000"/>
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			<geometry>
				<box size="0.02 0.329878157377243 0.02"/>
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			<material name="mat_col_(0.2, 0.5, 0.5)">
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		<collision>
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	</link>
	<link name="right_ankle">
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			<material name="mat_col_(0.2, 0.5, 0.5)">
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		<collision>
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	</link>
	<link name="right_foot">
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		<mass value="5.000000"/>
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				<box size="0.02 0.09954028367996216 0.02"/>
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			<material name="mat_col_(0.2, 0.5, 0.5)">
				<color rgba="0.20 0.50 0.50 1.0"/>
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		</visual>
		<collision>
			<origin rpy="1.570796 0.000000 0.000000" xyz="0.000000 -0.000000 0.054098"/>
			<geometry>
				<box size="0.02 0.09954028367996216 0.02"/>
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	</link>
	<link name="spine1">
		<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
		<mass value="5.000000"/>
		<visual>
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			<geometry>
				<box size="0.02 0.10764559209346772 0.02"/>
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			<material name="mat_col_(0.2, 0.5, 0.5)">
				<color rgba="0.20 0.50 0.50 1.0"/>
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		</visual>
		<collision>
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			<geometry>
				<box size="0.02 0.10764559209346772 0.02"/>
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	</link>
	<link name="spine2">
		<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
		<mass value="5.000000"/>
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			<geometry>
				<box size="0.02 0.044868156015872955 0.02"/>
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			<material name="mat_col_(0.2, 0.5, 0.5)">
				<color rgba="0.20 0.50 0.50 1.0"/>
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		</visual>
		<collision>
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	</link>
	<link name="spine3">
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		<mass value="5.000000"/>
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			<material name="mat_col_(0.2, 0.5, 0.5)">
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	</link>
	<link name="neck">
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	</link>
	<link name="head">
		<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
		<mass value="5.000000"/>
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			<geometry>
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	</link>
	<link name="jaw">
		<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
		<mass value="5.000000"/>
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	</link>
	<link name="left_eye_smplhf">
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	<link name="right_eye_smplhf">
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	<link name="left_collar">
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	<link name="left_shoulder">
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			<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>
	<!--JOINTS-->
	<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>
