<?xml version="1.0" ?>
<robot name="SMPLX-female">
	<!--LINKS-->
	<link name="pelvis">
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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 -0.050705 0.000000"/>
			<geometry>
				<box size="0.02 0.09329777717590332 0.02"/>
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	</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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			<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 -0.196903 0.000000"/>
			<geometry>
				<box size="0.02 0.36230106353759767 0.02"/>
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		</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"/>
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				<box size="0.02 0.3654362177848816 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 0.3654362177848816 0.02"/>
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	</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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			<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 0.10845980107784271 0.02"/>
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	</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"/>
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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 0.10845980107784271 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"/>
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				<box size="0.02 0.358214225769043 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 0.358214225769043 0.02"/>
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	</link>
	<link name="right_knee">
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	<link name="right_ankle">
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	</link>
	<link name="right_foot">
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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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				<box size="0.02 0.10389425635337829 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 0.11093301296234132 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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				<box size="0.02 0.11093301296234132 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>
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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="spine3">
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		<mass value="5.000000"/>
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	</link>
	<link name="neck">
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	</link>
	<link name="head">
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	<link name="jaw">
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	<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_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 0.014162"/>
			<geometry>
				<box size="0.02 0.02605897843837738 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="-0.012411 0.000000 0.000000"/>
			<geometry>
				<box size="0.02 0.022836840152740477 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="-0.012411 0.000000 0.000000"/>
			<geometry>
				<box size="0.02 0.022836840152740477 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="-0.012411 0.000000 0.000000"/>
			<geometry>
				<box size="0.02 0.022836840152740477 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="-0.012411 0.000000 0.000000"/>
			<geometry>
				<box size="0.02 0.022836840152740477 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="0.067340 -0.086361 -0.022183"/>
	</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="0.029302 -0.392179 -0.020480"/>
	</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="-0.006514 -0.396708 -0.018929"/>
	</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="0.020438 -0.045635 0.106761"/>
	</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="-0.066931 -0.093136 -0.023522"/>
	</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="-0.032795 -0.387702 -0.014684"/>
	</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="0.002186 -0.388265 -0.014892"/>
	</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="-0.016501 -0.049219 0.100290"/>
	</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="-0.005000 0.099288 -0.020023"/>
	</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="0.007875 0.120207 -0.005267"/>
	</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="-0.003872 0.043985 0.026610"/>
	</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="-0.005522 0.181193 -0.030673"/>
	</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="0.008546 0.144661 0.018244"/>
	</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="-0.002867 -0.002432 -0.006303"/>
	</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="0.028219 0.030860 0.070691"/>
	</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="-0.033403 0.030860 0.070689"/>
	</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="0.049850 0.107539 -0.012030"/>
	</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="0.087228 0.044454 -0.024588"/>
	</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="0.275825 -0.058157 -0.025197"/>
	</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="0.229458 0.007161 0.003331"/>
	</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="0.099499 -0.014910 0.019729"/>
	</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="0.030768 0.002512 0.002726"/>
	</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="0.021853 -0.001389 0.000462"/>
	</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="0.106195 -0.012613 -0.001771"/>
	</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="0.029284 0.001209 -0.003774"/>
	</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="0.022812 -0.000507 -0.003648"/>
	</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="0.081504 -0.019381 -0.038648"/>
	</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="0.014049 -0.000315 -0.011723"/>
	</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="0.014423 -0.000740 -0.011408"/>
	</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="0.094405 -0.014846 -0.023367"/>
	</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="0.026560 0.001549 -0.005198"/>
	</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="0.021840 -0.000857 -0.006933"/>
	</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="0.041824 -0.021578 0.025285"/>
	</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="0.016734 0.000431 0.022850"/>
	</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="0.019735 -0.005630 0.013963"/>
	</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="-0.052234 0.103735 -0.017778"/>
	</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="-0.094206 0.047193 -0.018579"/>
	</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="-0.265757 -0.053486 -0.018251"/>
	</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="-0.230474 0.002860 -0.005220"/>
	</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="-0.098323 -0.014213 0.021074"/>
	</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="-0.030768 0.002510 0.002725"/>
	</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="-0.021853 -0.001390 0.000461"/>
	</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="-0.105018 -0.011917 -0.000427"/>
	</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="-0.029283 0.001209 -0.003774"/>
	</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="-0.022811 -0.000507 -0.003648"/>
	</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="-0.080329 -0.018687 -0.037304"/>
	</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="-0.014048 -0.000315 -0.011722"/>
	</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="-0.014422 -0.000739 -0.011408"/>
	</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="-0.093230 -0.014151 -0.022024"/>
	</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="-0.026559 0.001549 -0.005199"/>
	</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="-0.021839 -0.000858 -0.006933"/>
	</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="-0.040645 -0.020884 0.026632"/>
	</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="-0.016734 0.000431 0.022849"/>
	</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="-0.019737 -0.005630 0.013961"/>
	</joint>
</robot>
