<?xml version="1.0" ?>
<robot name="SMPLX-male">
	<!--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"/>
		<visual>
			<origin rpy="3.141593 -0.000000 0.000000" xyz="0.000000 -0.055797 0.000000"/>
			<geometry>
				<box size="0.02 0.10266655445098877 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="3.141593 -0.000000 0.000000" xyz="0.000000 -0.055797 0.000000"/>
			<geometry>
				<box size="0.02 0.10266655445098877 0.02"/>
			</geometry>
		</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"/>
		<visual>
			<origin rpy="3.141593 -0.000000 0.000000" xyz="0.000000 -0.193672 0.000000"/>
			<geometry>
				<box size="0.02 0.35635626316070557 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="3.141593 -0.000000 0.000000" xyz="0.000000 -0.193672 0.000000"/>
			<geometry>
				<box size="0.02 0.35635626316070557 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 -0.204624 0.000000"/>
			<geometry>
				<box size="0.02 0.3765088403224945 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="3.141593 -0.000000 0.000000" xyz="0.000000 -0.204624 0.000000"/>
			<geometry>
				<box size="0.02 0.3765088403224945 0.02"/>
			</geometry>
		</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"/>
		<visual>
			<origin rpy="1.570796 -0.000000 1.570796" xyz="0.000000 -0.000000 0.076091"/>
			<geometry>
				<box size="0.02 0.1400076162815094 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 1.570796" xyz="0.000000 -0.000000 0.076091"/>
			<geometry>
				<box size="0.02 0.1400076162815094 0.02"/>
			</geometry>
		</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>
			<origin rpy="1.570796 -0.000000 1.570796" xyz="0.000000 -0.000000 0.076091"/>
			<geometry>
				<box size="0.02 0.1400076162815094 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 1.570796" xyz="0.000000 -0.000000 0.076091"/>
			<geometry>
				<box size="0.02 0.1400076162815094 0.02"/>
			</geometry>
		</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 -0.184419 0.000000"/>
			<geometry>
				<box size="0.02 0.3393301486968994 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 -0.184419 0.000000"/>
			<geometry>
				<box size="0.02 0.3393301486968994 0.02"/>
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		</collision>
	</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"/>
		<visual>
			<origin rpy="3.141593 -0.000000 0.000000" xyz="0.000000 -0.209899 0.000000"/>
			<geometry>
				<box size="0.02 0.3862136542797089 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 -0.209899 0.000000"/>
			<geometry>
				<box size="0.02 0.3862136542797089 0.02"/>
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	</link>
	<link name="right_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 0.1429465663433075 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 0.077688"/>
			<geometry>
				<box size="0.02 0.1429465663433075 0.02"/>
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	</link>
	<link name="right_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>
			<origin rpy="1.570796 -0.000000 -1.570796" xyz="0.000000 0.000000 0.077688"/>
			<geometry>
				<box size="0.02 0.1429465663433075 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 -1.570796" xyz="0.000000 0.000000 0.077688"/>
			<geometry>
				<box size="0.02 0.1429465663433075 0.02"/>
			</geometry>
		</collision>
	</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 0.076429 0.000000"/>
			<geometry>
				<box size="0.02 0.1406302547454834 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="0.000000 -0.000000 0.000000" xyz="0.000000 0.076429 0.000000"/>
			<geometry>
				<box size="0.02 0.1406302547454834 0.02"/>
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		</collision>
	</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>
			<origin rpy="0.000000 -0.000000 0.000000" xyz="0.000000 0.031235 0.000000"/>
			<geometry>
				<box size="0.02 0.057472362518310546 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="0.000000 -0.000000 0.000000" xyz="0.000000 0.031235 0.000000"/>
			<geometry>
				<box size="0.02 0.057472362518310546 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"/>
		<visual>
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			<geometry>
				<box size="0.02 0.07950579643249511 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 0.07950579643249511 0.02"/>
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	</link>
	<link name="neck">
		<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 0.15235501766204834 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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			<geometry>
				<box size="0.02 0.15235501766204834 0.02"/>
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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"/>
		<visual>
			<origin rpy="1.570796 -0.000000 1.570796" xyz="0.000000 0.000000 0.010630"/>
			<geometry>
				<box size="0.02 0.019558456987142564 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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			<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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			<material name="mat_col_(0.2, 0.5, 0.5)">
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	</link>
	<link name="left_eye_smplhf">
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	</link>
	<link name="right_eye_smplhf">
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	</link>
	<link name="left_collar">
		<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_shoulder">
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	<link name="left_elbow">
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	<link name="left_wrist">
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	<link name="left_index1">
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			<origin rpy="1.570796 -0.000000 -3.141593" xyz="0.000000 0.000000 0.015920"/>
			<geometry>
				<box size="0.02 0.029292532950639723 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 0.015920"/>
			<geometry>
				<box size="0.02 0.029292532950639723 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="-0.013587 0.000000 0.000000"/>
			<geometry>
				<box size="0.02 0.025000460147857666 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="-0.013587 0.000000 0.000000"/>
			<geometry>
				<box size="0.02 0.025000460147857666 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="-0.013587 0.000000 0.000000"/>
			<geometry>
				<box size="0.02 0.025000460147857666 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="-0.013587 0.000000 0.000000"/>
			<geometry>
				<box size="0.02 0.025000460147857666 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="0.055546 -0.093892 -0.023498"/>
	</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="0.065798 -0.381662 -0.006294"/>
	</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="-0.046181 -0.404705 -0.039567"/>
	</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="0.044457 -0.058624 0.133215"/>
	</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="-0.057131 -0.104337 -0.016806"/>
	</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="-0.049563 -0.365231 -0.013797"/>
	</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="0.017746 -0.417654 -0.038468"/>
	</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="-0.035435 -0.057797 0.139806"/>
	</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="-0.001439 0.109696 -0.037555"/>
	</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="0.009990 0.152465 0.004514"/>
	</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="-0.008810 0.058027 0.021395"/>
	</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="-0.009122 0.165198 -0.025864"/>
	</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="0.022301 0.162209 0.024803"/>
	</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="-0.020343 -0.000788 -0.006124"/>
	</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="0.018034 0.045342 0.064332"/>
	</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="-0.046147 0.045341 0.064331"/>
	</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="0.041198 0.075800 -0.005032"/>
	</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="0.136540 0.060455 -0.016103"/>
	</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="0.251013 -0.074440 -0.042885"/>
	</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="0.268264 0.024479 -0.001645"/>
	</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="0.104684 -0.008940 0.020465"/>
	</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="0.033075 0.001563 0.003598"/>
	</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="0.023290 -0.002679 -0.000217"/>
	</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="0.112781 -0.006223 -0.004189"/>
	</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="0.031556 0.000383 -0.004400"/>
	</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="0.024114 -0.002445 -0.004387"/>
	</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="0.087087 -0.014876 -0.045992"/>
	</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="0.016877 -0.001751 -0.011837"/>
	</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="0.016530 -0.001980 -0.011070"/>
	</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="0.100663 -0.009177 -0.028778"/>
	</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="0.029294 0.000670 -0.005029"/>
	</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="0.023695 -0.002236 -0.006779"/>
	</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="0.041233 -0.020080 0.027009"/>
	</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="0.017008 0.001749 0.026861"/>
	</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="0.020843 -0.004606 0.016817"/>
	</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="-0.044498 0.076409 -0.008285"/>
	</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="-0.126406 0.058675 -0.013105"/>
	</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="-0.268300 -0.044944 -0.030965"/>
	</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="-0.259997 -0.000308 -0.012351"/>
	</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="-0.104254 -0.012475 0.019508"/>
	</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="-0.033075 0.001563 0.003599"/>
	</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="-0.023290 -0.002679 -0.000218"/>
	</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="-0.112352 -0.009759 -0.005148"/>
	</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="-0.031556 0.000381 -0.004401"/>
	</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="-0.024113 -0.002445 -0.004388"/>
	</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="-0.086661 -0.018413 -0.046951"/>
	</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="-0.016877 -0.001751 -0.011835"/>
	</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="-0.016529 -0.001980 -0.011070"/>
	</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="-0.100236 -0.012713 -0.029738"/>
	</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="-0.029294 0.000669 -0.005028"/>
	</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="-0.023695 -0.002236 -0.006780"/>
	</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="-0.040803 -0.023619 0.026052"/>
	</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="-0.017007 0.001750 0.026860"/>
	</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="-0.020844 -0.004604 0.016816"/>
	</joint>
</robot>
