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<?xml version="0.0" ?>
<robot name="">
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<inertial>
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</link>
<link name="lwaist">
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</link>
<link name="pelvis">
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<link name="link1_7">
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<link name="link1_9">
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</link>
<link name="right_thigh">
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</link>
<link name="right_shin">
<inertial>
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<link name="link1_13">
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<link name="link1_14">
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</link>
<link name="right_foot">
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<link name="left_shin">
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<link name="left_foot">
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</link>
<link name="right_upper_arm">
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<link name="right_lower_arm">
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<link name="left_upper_arm">
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<link name="left_lower_arm">
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<collision>
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</link>
<joint name="abdomen_z" type="continuous">
<parent link="torso"/>
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<joint name="abdomen_y" type="continuous">
<parent link="link1_2"/>
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<joint name="jointfix_7_3" type="fixed">
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<joint name="abdomen_x" type="continuous">
<parent link="lwaist"/>
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<joint name="jointfix_6_5" type="fixed">
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<joint name="right_hip_x" type="continuous">
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<joint name="right_hip_z" type="continuous">
<parent link="link1_7"/>
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<joint name="right_hip_y" type="continuous">
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<joint name="jointfix_2_9" type="fixed">
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<joint name="right_knee" type="continuous">
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<joint name="jointfix_1_11" type="fixed">
<parent link="link1_11"/>
<child link="right_shin"/>
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<joint name="right_ankle_y" type="continuous">
<parent link="right_shin"/>
<child link="link1_13"/>
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<joint name="right_ankle_x" type="continuous">
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<joint name="jointfix_0_14" type="fixed">
<parent link="link1_14"/>
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<joint name="left_hip_x" type="continuous">
<parent link="pelvis"/>
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<joint name="left_hip_z" type="continuous">
<parent link="link1_16"/>
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<joint name="left_hip_y" type="continuous">
<parent link="link1_17"/>
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<joint name="jointfix_5_18" type="fixed">
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<joint name="left_knee" type="continuous">
<parent link="left_thigh"/>
<child link="link1_20"/>
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<joint name="jointfix_4_20" type="fixed">
<parent link="link1_20"/>
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<joint name="left_ankle_y" type="continuous">
<parent link="left_shin"/>
<child link="link1_22"/>
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<joint name="left_ankle_x" type="continuous">
<parent link="link1_22"/>
<child link="link1_23"/>
<dynamics damping="1.0" friction="0.0001"/>
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<joint name="jointfix_3_23" type="fixed">
<parent link="link1_23"/>
<child link="left_foot"/>
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<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.08000"/>
<axis xyz="0.00000 0.00000 0.00000"/>
</joint>
<joint name="right_shoulder1" type="continuous">
<parent link="torso"/>
<child link="link1_25"/>
<dynamics damping="1.0" friction="0.0001"/>
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.17000 0.06000"/>
<axis xyz="2.00000 1.00000 1.00000"/>
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<joint name="right_shoulder2" type="continuous">
<parent link="link1_25"/>
<child link="link1_26"/>
<dynamics damping="1.0" friction="0.0001"/>
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="0.00000 -1.00000 1.00000"/>
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<joint name="jointfix_9_26" type="fixed">
<parent link="link1_26"/>
<child link="right_upper_arm"/>
<dynamics damping="1.0" friction="0.0001"/>
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="0.00000 0.00000 0.00000"/>
</joint>
<joint name="right_elbow" type="continuous">
<parent link="right_upper_arm"/>
<child link="link1_28"/>
<dynamics damping="1.0" friction="0.0001"/>
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.18000 -0.18000 -0.18000"/>
<axis xyz="0.00000 -1.00000 1.00000"/>
</joint>
<joint name="jointfix_8_28" type="fixed">
<parent link="link1_28"/>
<child link="right_lower_arm"/>
<dynamics damping="1.0" friction="0.0001"/>
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="0.00000 0.00000 0.00000"/>
</joint>
<joint name="left_shoulder1" type="continuous">
<parent link="torso"/>
<child link="link1_30"/>
<dynamics damping="1.0" friction="0.0001"/>
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.17000 0.06000"/>
<axis xyz="2.00000 -1.00000 1.00000"/>
</joint>
<joint name="left_shoulder2" type="continuous">
<parent link="link1_30"/>
<child link="link1_31"/>
<dynamics damping="1.0" friction="0.0001"/>
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="0.00000 1.00000 1.00000"/>
</joint>
<joint name="jointfix_11_31" type="fixed">
<parent link="link1_31"/>
<child link="left_upper_arm"/>
<dynamics damping="1.0" friction="0.0001"/>
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="0.00000 0.00000 0.00000"/>
</joint>
<joint name="left_elbow" type="continuous">
<parent link="left_upper_arm"/>
<child link="link1_33"/>
<dynamics damping="1.0" friction="0.0001"/>
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.18000 0.18000 -0.18000"/>
<axis xyz="0.00000 -1.00000 -1.00000"/>
</joint>
<joint name="jointfix_10_33" type="fixed">
<parent link="link1_33"/>
<child link="left_lower_arm"/>
<dynamics damping="1.0" friction="0.0001"/>
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="0.00000 0.00000 0.00000"/>
</joint>
</robot>
63c4d67e3This file is pinned to the selected release. Download the original to open it in your design tool.