<?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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				<box size="0.02 0.09726534605026245 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 -0.052862 0.000000"/>
			<geometry>
				<box size="0.02 0.09726534605026245 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 0.34752337336540223 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 -0.188871 0.000000"/>
			<geometry>
				<box size="0.02 0.34752337336540223 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 -0.193793 0.000000"/>
			<geometry>
				<box size="0.02 0.35657999515533445 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 -0.193793 0.000000"/>
			<geometry>
				<box size="0.02 0.35657999515533445 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 0.1085655665397644 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 0.059003"/>
			<geometry>
				<box size="0.02 0.1085655665397644 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 0.10856555968523025 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 0.059003"/>
			<geometry>
				<box size="0.02 0.10856555968523025 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>
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			<geometry>
				<box size="0.02 0.3437018883228302 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 -0.186795 0.000000"/>
			<geometry>
				<box size="0.02 0.3437018883228302 0.02"/>
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	</link>
	<link name="right_knee">
		<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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				<box size="0.02 0.3484772503376007 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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		<collision>
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	</link>
	<link name="right_ankle">
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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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		<collision>
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	</link>
	<link name="right_foot">
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		<mass value="5.000000"/>
		<visual>
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			<geometry>
				<box size="0.02 0.10396675676107406 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 0.056504"/>
			<geometry>
				<box size="0.02 0.10396675676107406 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>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.059027 0.000000"/>
			<geometry>
				<box size="0.02 0.1086101484298706 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="0.000000 -0.000000 0.000000" xyz="0.000000 0.059027 0.000000"/>
			<geometry>
				<box size="0.02 0.1086101484298706 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"/>
		<visual>
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			<geometry>
				<box size="0.02 0.05020907878875733 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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				<box size="0.02 0.05020907878875733 0.02"/>
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	</link>
	<link name="spine3">
		<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)">
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		<collision>
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	</link>
	<link name="neck">
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		<mass value="5.000000"/>
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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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			<material name="mat_col_(0.2, 0.5, 0.5)">
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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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	<link name="left_elbow">
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	<link name="left_wrist">
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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 -3.141593" xyz="0.000000 0.000000 0.014240"/>
			<geometry>
				<box size="0.02 0.026200757622718812 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="-0.012437 0.000000 0.000000"/>
			<geometry>
				<box size="0.02 0.02288460426032543 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="-0.012437 0.000000 0.000000"/>
			<geometry>
				<box size="0.02 0.02288460426032543 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="-0.012437 0.000000 0.000000"/>
			<geometry>
				<box size="0.02 0.02288460426032543 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="-0.012437 0.000000 0.000000"/>
			<geometry>
				<box size="0.02 0.02288460426032543 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="0.072899 -0.088478 -0.014484"/>
	</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="0.026338 -0.376224 -0.021244"/>
	</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="-0.008276 -0.386951 -0.020597"/>
	</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="0.021548 -0.043891 0.107400"/>
	</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="-0.072195 -0.094928 -0.015813"/>
	</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="-0.030216 -0.372058 -0.015110"/>
	</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="0.003603 -0.378386 -0.016893"/>
	</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="-0.017403 -0.047334 0.101130"/>
	</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="-0.005460 0.102212 -0.026461"/>
	</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="0.010171 0.117166 -0.010276"/>
	</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="-0.005563 0.043825 0.032045"/>
	</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="-0.005762 0.194076 -0.039962"/>
	</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="0.008775 0.146091 0.020743"/>
	</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="-0.003098 -0.002773 -0.006770"/>
	</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="0.028241 0.034706 0.068637"/>
	</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="-0.033676 0.034706 0.068636"/>
	</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="0.052238 0.114280 -0.017978"/>
	</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="0.088479 0.045555 -0.027641"/>
	</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="0.272244 -0.055883 -0.027279"/>
	</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="0.227420 0.007542 0.004085"/>
	</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="0.099976 -0.014505 0.019801"/>
	</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="0.030929 0.002719 0.002658"/>
	</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="0.021905 -0.001364 0.000398"/>
	</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="0.106800 -0.012180 -0.002249"/>
	</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="0.029370 0.001363 -0.003804"/>
	</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="0.022789 -0.000546 -0.003685"/>
	</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="0.082059 -0.019658 -0.039619"/>
	</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="0.014282 -0.000407 -0.011712"/>
	</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="0.014562 -0.000865 -0.011355"/>
	</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="0.095020 -0.014764 -0.024294"/>
	</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="0.026729 0.001656 -0.005247"/>
	</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="0.021862 -0.000935 -0.006978"/>
	</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="0.041607 -0.021897 0.025897"/>
	</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="0.016685 0.000733 0.023068"/>
	</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="0.019785 -0.005621 0.013988"/>
	</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="-0.054698 0.110255 -0.024477"/>
	</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="-0.095603 0.047853 -0.020766"/>
	</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="-0.262557 -0.050778 -0.020299"/>
	</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="-0.228115 0.003354 -0.004756"/>
	</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="-0.098793 -0.013693 0.021286"/>
	</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="-0.030929 0.002718 0.002657"/>
	</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="-0.021905 -0.001365 0.000398"/>
	</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="-0.105616 -0.011369 -0.000766"/>
	</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="-0.029370 0.001363 -0.003804"/>
	</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="-0.022789 -0.000546 -0.003685"/>
	</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="-0.080877 -0.018850 -0.038137"/>
	</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="-0.014282 -0.000407 -0.011711"/>
	</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="-0.014562 -0.000864 -0.011356"/>
	</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="-0.093837 -0.013954 -0.022812"/>
	</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="-0.026728 0.001657 -0.005248"/>
	</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="-0.021861 -0.000935 -0.006978"/>
	</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="-0.040421 -0.021088 0.027382"/>
	</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="-0.016685 0.000734 0.023068"/>
	</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="-0.019787 -0.005621 0.013986"/>
	</joint>
</robot>
