@ioai/robot_viewer 0.0.0-stage → 1.1.2

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (159) hide show
  1. package/LICENSE +201 -0
  2. package/README.md +217 -2
  3. package/bin/cli.js +83 -0
  4. package/dist/assets/css/PlotPanel-3e7d7555.css +1 -0
  5. package/dist/assets/js/ColladaLoader-2a0c4638.js +1 -0
  6. package/dist/assets/js/GLTFLoader-7a7f40d7.js +1 -0
  7. package/dist/assets/js/MTLLoader-b6ce88b7.js +1 -0
  8. package/dist/assets/js/OBJLoader-7667aa01.js +1 -0
  9. package/dist/assets/js/PlotPanel-09f986c7.js +1 -0
  10. package/dist/assets/js/STLLoader-de0915d4.js +1 -0
  11. package/dist/assets/js/URDFLoader-a34b6917.js +1 -0
  12. package/dist/assets/js/USDZLoader-64197f74.js +7 -0
  13. package/dist/assets/js/__vite-browser-external-afb87ea8.js +1 -0
  14. package/dist/assets/js/codemirror-c3cec7b3.js +1 -0
  15. package/dist/assets/js/codemirror-themes-e6995a6a.js +1 -0
  16. package/dist/assets/js/d3-2e308866.js +1 -0
  17. package/dist/assets/js/index-56e94ce5.js +6 -0
  18. package/dist/assets/js/mujoco_wasm-345a2576.js +1 -0
  19. package/dist/assets/js/three-9c891de0.js +6 -0
  20. package/dist/camera-publish-worker.js +1 -0
  21. package/dist/favicon.svg +2 -0
  22. package/dist/heartbeat-worker.js +1 -0
  23. package/dist/index.html +4373 -0
  24. package/dist/models/mocap/blender_human.urdf +2319 -0
  25. package/dist/models/mocap/blender_human_skeleton_v4.urdf +1432 -0
  26. package/dist/models/mocap/blender_human_skeleton_v5.urdf +2717 -0
  27. package/dist/models/mocap/meshes/v4/L_base_link.STL +0 -0
  28. package/dist/models/mocap/meshes/v4/L_figer1_1.STL +0 -0
  29. package/dist/models/mocap/meshes/v4/L_figer1_2.STL +0 -0
  30. package/dist/models/mocap/meshes/v4/L_figer1_3.STL +0 -0
  31. package/dist/models/mocap/meshes/v4/L_figer1_4.STL +0 -0
  32. package/dist/models/mocap/meshes/v4/L_figer1_5.STL +0 -0
  33. package/dist/models/mocap/meshes/v4/L_figer1base.STL +0 -0
  34. package/dist/models/mocap/meshes/v4/L_figer2_1.STL +0 -0
  35. package/dist/models/mocap/meshes/v4/L_figer2_2.STL +0 -0
  36. package/dist/models/mocap/meshes/v4/L_figer2_3.STL +0 -0
  37. package/dist/models/mocap/meshes/v4/L_figer2_4.STL +0 -0
  38. package/dist/models/mocap/meshes/v4/L_figer2_5.STL +0 -0
  39. package/dist/models/mocap/meshes/v4/L_figer3_1.STL +0 -0
  40. package/dist/models/mocap/meshes/v4/L_figer3_2.STL +0 -0
  41. package/dist/models/mocap/meshes/v4/L_figer3_3.STL +0 -0
  42. package/dist/models/mocap/meshes/v4/L_figer3_4.STL +0 -0
  43. package/dist/models/mocap/meshes/v4/L_figer3_5.STL +0 -0
  44. package/dist/models/mocap/meshes/v4/L_figer4_1.STL +0 -0
  45. package/dist/models/mocap/meshes/v4/L_figer4_2.STL +0 -0
  46. package/dist/models/mocap/meshes/v4/L_figer4_3.STL +0 -0
  47. package/dist/models/mocap/meshes/v4/L_figer4_4.STL +0 -0
  48. package/dist/models/mocap/meshes/v4/L_figer4_5.STL +0 -0
  49. package/dist/models/mocap/meshes/v4/L_figer5_1.STL +0 -0
  50. package/dist/models/mocap/meshes/v4/L_figer5_2.STL +0 -0
  51. package/dist/models/mocap/meshes/v4/L_figer5_3.STL +0 -0
  52. package/dist/models/mocap/meshes/v4/L_figer5_4.STL +0 -0
  53. package/dist/models/mocap/meshes/v4/L_figer5_5.STL +0 -0
  54. package/dist/models/mocap/meshes/v4/L_handle.STL +0 -0
  55. package/dist/models/mocap/meshes/v4/L_handleseat.STL +0 -0
  56. package/dist/models/mocap/meshes/v4/L_mark.STL +0 -0
  57. package/dist/models/mocap/meshes/v4/L_markseat.STL +0 -0
  58. package/dist/models/mocap/meshes/v4/Lgamepadbase.STL +0 -0
  59. package/dist/models/mocap/meshes/v4/Link1.STL +0 -0
  60. package/dist/models/mocap/meshes/v4/Link2.STL +0 -0
  61. package/dist/models/mocap/meshes/v4/R_base_link.STL +0 -0
  62. package/dist/models/mocap/meshes/v4/R_figer1_1.STL +0 -0
  63. package/dist/models/mocap/meshes/v4/R_figer1_2.STL +0 -0
  64. package/dist/models/mocap/meshes/v4/R_figer1_3.STL +0 -0
  65. package/dist/models/mocap/meshes/v4/R_figer1_4.STL +0 -0
  66. package/dist/models/mocap/meshes/v4/R_figer1_5.STL +0 -0
  67. package/dist/models/mocap/meshes/v4/R_figer1base.STL +0 -0
  68. package/dist/models/mocap/meshes/v4/R_figer2_1.STL +0 -0
  69. package/dist/models/mocap/meshes/v4/R_figer2_2.STL +0 -0
  70. package/dist/models/mocap/meshes/v4/R_figer2_3.STL +0 -0
  71. package/dist/models/mocap/meshes/v4/R_figer2_4.STL +0 -0
  72. package/dist/models/mocap/meshes/v4/R_figer2_5.STL +0 -0
  73. package/dist/models/mocap/meshes/v4/R_figer3_1.STL +0 -0
  74. package/dist/models/mocap/meshes/v4/R_figer3_2.STL +0 -0
  75. package/dist/models/mocap/meshes/v4/R_figer3_3.STL +0 -0
  76. package/dist/models/mocap/meshes/v4/R_figer3_4.STL +0 -0
  77. package/dist/models/mocap/meshes/v4/R_figer3_5.STL +0 -0
  78. package/dist/models/mocap/meshes/v4/R_figer4_1.STL +0 -0
  79. package/dist/models/mocap/meshes/v4/R_figer4_2.STL +0 -0
  80. package/dist/models/mocap/meshes/v4/R_figer4_3.STL +0 -0
  81. package/dist/models/mocap/meshes/v4/R_figer4_4.STL +0 -0
  82. package/dist/models/mocap/meshes/v4/R_figer4_5.STL +0 -0
  83. package/dist/models/mocap/meshes/v4/R_figer5_1.STL +0 -0
  84. package/dist/models/mocap/meshes/v4/R_figer5_2.STL +0 -0
  85. package/dist/models/mocap/meshes/v4/R_figer5_3.STL +0 -0
  86. package/dist/models/mocap/meshes/v4/R_figer5_4.STL +0 -0
  87. package/dist/models/mocap/meshes/v4/R_figer5_5.STL +0 -0
  88. package/dist/models/mocap/meshes/v4/R_handle.STL +0 -0
  89. package/dist/models/mocap/meshes/v4/R_handleseat.STL +0 -0
  90. package/dist/models/mocap/meshes/v4/R_mark.STL +0 -0
  91. package/dist/models/mocap/meshes/v4/R_markseat.STL +0 -0
  92. package/dist/models/mocap/meshes/v4/Rgamepadbase.STL +0 -0
  93. package/dist/models/mocap/meshes/v4/base_link.STL +0 -0
  94. package/dist/models/mocap/meshes/v4/r_figer1_1.STL +0 -0
  95. package/dist/models/mocap/meshes/v5/L_handleseat.STL +0 -0
  96. package/dist/models/mocap/meshes/v5/R_handleseat.STL +0 -0
  97. package/dist/models/mocap/meshes/v5/link_LeftSkeletonBase.STL +0 -0
  98. package/dist/models/mocap/meshes/v5/link_LeftSkeletonIndex1.STL +0 -0
  99. package/dist/models/mocap/meshes/v5/link_LeftSkeletonIndex2.STL +0 -0
  100. package/dist/models/mocap/meshes/v5/link_LeftSkeletonIndex3.STL +0 -0
  101. package/dist/models/mocap/meshes/v5/link_LeftSkeletonIndex4.STL +0 -0
  102. package/dist/models/mocap/meshes/v5/link_LeftSkeletonMiddle1.STL +0 -0
  103. package/dist/models/mocap/meshes/v5/link_LeftSkeletonMiddle2.STL +0 -0
  104. package/dist/models/mocap/meshes/v5/link_LeftSkeletonMiddle3.STL +0 -0
  105. package/dist/models/mocap/meshes/v5/link_LeftSkeletonMiddle4.STL +0 -0
  106. package/dist/models/mocap/meshes/v5/link_LeftSkeletonPinky1.STL +0 -0
  107. package/dist/models/mocap/meshes/v5/link_LeftSkeletonPinky2.STL +0 -0
  108. package/dist/models/mocap/meshes/v5/link_LeftSkeletonPinky3.STL +0 -0
  109. package/dist/models/mocap/meshes/v5/link_LeftSkeletonPinky4.STL +0 -0
  110. package/dist/models/mocap/meshes/v5/link_LeftSkeletonRing1.STL +0 -0
  111. package/dist/models/mocap/meshes/v5/link_LeftSkeletonRing2.STL +0 -0
  112. package/dist/models/mocap/meshes/v5/link_LeftSkeletonRing3.STL +0 -0
  113. package/dist/models/mocap/meshes/v5/link_LeftSkeletonRing4.STL +0 -0
  114. package/dist/models/mocap/meshes/v5/link_LeftSkeletonThumb1.STL +0 -0
  115. package/dist/models/mocap/meshes/v5/link_LeftSkeletonThumb2.STL +0 -0
  116. package/dist/models/mocap/meshes/v5/link_LeftSkeletonThumb3.STL +0 -0
  117. package/dist/models/mocap/meshes/v5/link_LeftSkeletonThumb4.STL +0 -0
  118. package/dist/models/mocap/meshes/v5/link_LeftSkeletonThumbBase.STL +0 -0
  119. package/dist/models/mocap/meshes/v5/link_RightSkeletonBase.STL +0 -0
  120. package/dist/models/mocap/meshes/v5/link_RightSkeletonIndex1.STL +0 -0
  121. package/dist/models/mocap/meshes/v5/link_RightSkeletonIndex2.STL +0 -0
  122. package/dist/models/mocap/meshes/v5/link_RightSkeletonIndex3.STL +0 -0
  123. package/dist/models/mocap/meshes/v5/link_RightSkeletonIndex4.STL +0 -0
  124. package/dist/models/mocap/meshes/v5/link_RightSkeletonMiddle1.STL +0 -0
  125. package/dist/models/mocap/meshes/v5/link_RightSkeletonMiddle2.STL +0 -0
  126. package/dist/models/mocap/meshes/v5/link_RightSkeletonMiddle3.STL +0 -0
  127. package/dist/models/mocap/meshes/v5/link_RightSkeletonMiddle4.STL +0 -0
  128. package/dist/models/mocap/meshes/v5/link_RightSkeletonPinky1.STL +0 -0
  129. package/dist/models/mocap/meshes/v5/link_RightSkeletonPinky2.STL +0 -0
  130. package/dist/models/mocap/meshes/v5/link_RightSkeletonPinky3.STL +0 -0
  131. package/dist/models/mocap/meshes/v5/link_RightSkeletonPinky4.STL +0 -0
  132. package/dist/models/mocap/meshes/v5/link_RightSkeletonRing1.STL +0 -0
  133. package/dist/models/mocap/meshes/v5/link_RightSkeletonRing2.STL +0 -0
  134. package/dist/models/mocap/meshes/v5/link_RightSkeletonRing3.STL +0 -0
  135. package/dist/models/mocap/meshes/v5/link_RightSkeletonRing4.STL +0 -0
  136. package/dist/models/mocap/meshes/v5/link_RightSkeletonThumb1.STL +0 -0
  137. package/dist/models/mocap/meshes/v5/link_RightSkeletonThumb2.STL +0 -0
  138. package/dist/models/mocap/meshes/v5/link_RightSkeletonThumb3.STL +0 -0
  139. package/dist/models/mocap/meshes/v5/link_RightSkeletonThumb4.STL +0 -0
  140. package/dist/models/mocap/meshes/v5/link_RightSkeletonThumbBase.STL +0 -0
  141. package/dist/scripts/start-rosbridge.sh +77 -0
  142. package/dist/usd-iframe.html +41 -0
  143. package/dist/usd-viewer/bindings/.gitattributes +2 -0
  144. package/dist/usd-viewer/bindings/emHdBindings.data +19331 -0
  145. package/dist/usd-viewer/bindings/emHdBindings.js +12281 -0
  146. package/dist/usd-viewer/bindings/emHdBindings.wasm +0 -0
  147. package/dist/usd-viewer/bindings/emHdBindings.worker.js +124 -0
  148. package/dist/usd-viewer/environments/neutral.hdr +0 -0
  149. package/dist/usd-viewer/error-handler.js +57 -0
  150. package/dist/usd-viewer/hydra/HydraPrimitives.js +740 -0
  151. package/dist/usd-viewer/hydra/TextureRegistry.js +130 -0
  152. package/dist/usd-viewer/hydra/ThreeJsRenderDelegate.js +65 -0
  153. package/dist/usd-viewer/index.d.ts +1 -0
  154. package/dist/usd-viewer/main.js +1018 -0
  155. package/dist/usd-viewer/usd.html +36 -0
  156. package/dist/usd-viewer/usdUtils.js +67 -0
  157. package/package.json +70 -4
  158. package/server/package.json +14 -0
  159. package/server/static-server.js +106 -0
package/dist/models/mocap/blender_human.urdf ADDED
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961
+ <child link="link_RightLeg_P" />
962
+ <axis xyz="0 1 0" />
963
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
964
+ velocity="3.0000" />
965
+ <origin xyz="0 0 0" rpy="0 0 0" />
966
+ </joint>
967
+ <joint name="joint_RightLeg_Y" type="revolute">
968
+ <parent link="link_RightLeg_P" />
969
+ <child link="link_RightLeg_Y" />
970
+ <axis xyz="0 0 1" />
971
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
972
+ velocity="3.0000" />
973
+ <origin xyz="0 0 0" rpy="0 0 0" />
974
+ </joint>
975
+ <joint name="joint_RightFoot_R" type="revolute">
976
+ <parent link="link_RightLeg_Y" />
977
+ <child link="link_RightFoot_R" />
978
+ <axis xyz="1 0 0" />
979
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
980
+ velocity="3.0000" />
981
+ <origin rpy="0 0 0" xyz="0.0 0.0 -0.420580" />
982
+ </joint>
983
+ <joint name="joint_RightFoot_P" type="revolute">
984
+ <parent link="link_RightFoot_R" />
985
+ <child link="link_RightFoot_P" />
986
+ <axis xyz="0 1 0" />
987
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
988
+ velocity="3.0000" />
989
+ <origin xyz="0 0 0" rpy="0 0 0" />
990
+ </joint>
991
+ <joint name="joint_RightFoot_Y" type="revolute">
992
+ <parent link="link_RightFoot_P" />
993
+ <child link="link_RightFoot_Y" />
994
+ <axis xyz="0 0 1" />
995
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
996
+ velocity="3.0000" />
997
+ <origin xyz="0 0 0" rpy="0 0 0" />
998
+ </joint>
999
+ <joint name="joint_LeftUpLeg_R" type="revolute">
1000
+ <parent link="link_Hips_Y" />
1001
+ <child link="link_LeftUpLeg_R" />
1002
+ <axis xyz="1 0 0" />
1003
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1004
+ velocity="3.0000" />
1005
+ <origin rpy="0.0 0.0 0" xyz="-0.110000 0.0 0.0" />
1006
+ </joint>
1007
+ <joint name="joint_LeftUpLeg_P" type="revolute">
1008
+ <parent link="link_LeftUpLeg_R" />
1009
+ <child link="link_LeftUpLeg_P" />
1010
+ <axis xyz="0 1 0" />
1011
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1012
+ velocity="3.0000" />
1013
+ <origin xyz="0 0 0" rpy="0 0 0" />
1014
+ </joint>
1015
+ <joint name="joint_LeftUpLeg_Y" type="revolute">
1016
+ <parent link="link_LeftUpLeg_P" />
1017
+ <child link="link_LeftUpLeg_Y" />
1018
+ <axis xyz="0 0 1" />
1019
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1020
+ velocity="3.0000" />
1021
+ <origin xyz="0 0 0" rpy="0 0 0" />
1022
+ </joint>
1023
+ <joint name="joint_LeftLeg_R" type="revolute">
1024
+ <parent link="link_LeftUpLeg_Y" />
1025
+ <child link="link_LeftLeg_R" />
1026
+ <axis xyz="1 0 0" />
1027
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1028
+ velocity="3.0000" />
1029
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.450620" />
1030
+ </joint>
1031
+ <joint name="joint_LeftLeg_P" type="revolute">
1032
+ <parent link="link_LeftLeg_R" />
1033
+ <child link="link_LeftLeg_P" />
1034
+ <axis xyz="0 1 0" />
1035
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1036
+ velocity="3.0000" />
1037
+ <origin xyz="0 0 0" rpy="0 0 0" />
1038
+ </joint>
1039
+ <joint name="joint_LeftLeg_Y" type="revolute">
1040
+ <parent link="link_LeftLeg_P" />
1041
+ <child link="link_LeftLeg_Y" />
1042
+ <axis xyz="0 0 1" />
1043
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1044
+ velocity="3.0000" />
1045
+ <origin xyz="0 0 0" rpy="0 0 0" />
1046
+ </joint>
1047
+ <joint name="joint_LeftFoot_R" type="revolute">
1048
+ <parent link="link_LeftLeg_Y" />
1049
+ <child link="link_LeftFoot_R" />
1050
+ <axis xyz="1 0 0" />
1051
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1052
+ velocity="3.0000" />
1053
+ <origin rpy="0 0 0" xyz="0.0 0.0 -0.420580" />
1054
+ </joint>
1055
+ <joint name="joint_LeftFoot_P" type="revolute">
1056
+ <parent link="link_LeftFoot_R" />
1057
+ <child link="link_LeftFoot_P" />
1058
+ <axis xyz="0 1 0" />
1059
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1060
+ velocity="3.0000" />
1061
+ <origin xyz="0 0 0" rpy="0 0 0" />
1062
+ </joint>
1063
+ <joint name="joint_LeftFoot_Y" type="revolute">
1064
+ <parent link="link_LeftFoot_P" />
1065
+ <child link="link_LeftFoot_Y" />
1066
+ <axis xyz="0 0 1" />
1067
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1068
+ velocity="3.0000" />
1069
+ <origin xyz="0 0 0" rpy="0 0 0" />
1070
+ </joint>
1071
+ <joint name="joint_Spine_R" type="revolute">
1072
+ <parent link="link_Hips_Y" />
1073
+ <child link="link_Spine_R" />
1074
+ <axis xyz="1 0 0" />
1075
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1076
+ velocity="3.0000" />
1077
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.08" />
1078
+ </joint>
1079
+ <joint name="joint_Spine_P" type="revolute">
1080
+ <parent link="link_Spine_R" />
1081
+ <child link="link_Spine_P" />
1082
+ <axis xyz="0 1 0" />
1083
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1084
+ velocity="3.0000" />
1085
+ <origin xyz="0 0 0" rpy="0 0 0" />
1086
+ </joint>
1087
+ <joint name="joint_Spine_Y" type="revolute">
1088
+ <parent link="link_Spine_P" />
1089
+ <child link="link_Spine_Y" />
1090
+ <axis xyz="0 0 1" />
1091
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1092
+ velocity="3.0000" />
1093
+ <origin xyz="0 0 0" rpy="0 0 0" />
1094
+ </joint>
1095
+ <joint name="joint_Spine1_R" type="revolute">
1096
+ <parent link="link_Spine_Y" />
1097
+ <child link="link_Spine1_R" />
1098
+ <axis xyz="1 0 0" />
1099
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1100
+ velocity="3.0000" />
1101
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.08" />
1102
+ </joint>
1103
+ <joint name="joint_Spine1_P" type="revolute">
1104
+ <parent link="link_Spine1_R" />
1105
+ <child link="link_Spine1_P" />
1106
+ <axis xyz="0 1 0" />
1107
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1108
+ velocity="3.0000" />
1109
+ <origin xyz="0 0 0" rpy="0 0 0" />
1110
+ </joint>
1111
+ <joint name="joint_Spine1_Y" type="revolute">
1112
+ <parent link="link_Spine1_P" />
1113
+ <child link="link_Spine1_Y" />
1114
+ <axis xyz="0 0 1" />
1115
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1116
+ velocity="3.0000" />
1117
+ <origin xyz="0 0 0" rpy="0 0 0" />
1118
+ </joint>
1119
+ <joint name="joint_Spine2_R" type="revolute">
1120
+ <parent link="link_Spine1_Y" />
1121
+ <child link="link_Spine2_R" />
1122
+ <axis xyz="1 0 0" />
1123
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1124
+ velocity="3.0000" />
1125
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.127600" />
1126
+ </joint>
1127
+ <joint name="joint_Spine2_P" type="revolute">
1128
+ <parent link="link_Spine2_R" />
1129
+ <child link="link_Spine2_P" />
1130
+ <axis xyz="0 1 0" />
1131
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1132
+ velocity="3.0000" />
1133
+ <origin xyz="0 0 0" rpy="0 0 0" />
1134
+ </joint>
1135
+ <joint name="joint_Spine2_Y" type="revolute">
1136
+ <parent link="link_Spine2_P" />
1137
+ <child link="link_Spine2_Y" />
1138
+ <axis xyz="0 0 1" />
1139
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1140
+ velocity="3.0000" />
1141
+ <origin xyz="0 0 0" rpy="0 0 0" />
1142
+ </joint>
1143
+ <joint name="joint_Neck_R" type="revolute">
1144
+ <parent link="link_Spine2_Y" />
1145
+ <child link="link_Neck_R" />
1146
+ <axis xyz="1 0 0" />
1147
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1148
+ velocity="3.0000" />
1149
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.191400" />
1150
+ </joint>
1151
+ <joint name="joint_Neck_P" type="revolute">
1152
+ <parent link="link_Neck_R" />
1153
+ <child link="link_Neck_P" />
1154
+ <axis xyz="0 1 0" />
1155
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1156
+ velocity="3.0000" />
1157
+ <origin xyz="0 0 0" rpy="0 0 0" />
1158
+ </joint>
1159
+ <joint name="joint_Neck_Y" type="revolute">
1160
+ <parent link="link_Neck_P" />
1161
+ <child link="link_Neck_Y" />
1162
+ <axis xyz="0 0 1" />
1163
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1164
+ velocity="3.0000" />
1165
+ <origin xyz="0 0 0" rpy="0 0 0" />
1166
+ </joint>
1167
+ <joint name="joint_Neck1_R" type="revolute">
1168
+ <parent link="link_Neck_Y" />
1169
+ <child link="link_Neck1_R" />
1170
+ <axis xyz="1 0 0" />
1171
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1172
+ velocity="3.0000" />
1173
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.042500" />
1174
+ </joint>
1175
+ <joint name="joint_Neck1_P" type="revolute">
1176
+ <parent link="link_Neck1_R" />
1177
+ <child link="link_Neck1_P" />
1178
+ <axis xyz="0 1 0" />
1179
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1180
+ velocity="3.0000" />
1181
+ <origin xyz="0 0 0" rpy="0 0 0" />
1182
+ </joint>
1183
+ <joint name="joint_Neck1_Y" type="revolute">
1184
+ <parent link="link_Neck1_P" />
1185
+ <child link="link_Neck1_Y" />
1186
+ <axis xyz="0 0 1" />
1187
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1188
+ velocity="3.0000" />
1189
+ <origin xyz="0 0 0" rpy="0 0 0" />
1190
+ </joint>
1191
+ <joint name="joint_Head_R" type="revolute">
1192
+ <parent link="link_Neck1_Y" />
1193
+ <child link="link_Head_R" />
1194
+ <axis xyz="1 0 0" />
1195
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1196
+ velocity="3.0000" />
1197
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.042500" />
1198
+ </joint>
1199
+ <joint name="joint_Head_P" type="revolute">
1200
+ <parent link="link_Head_R" />
1201
+ <child link="link_Head_P" />
1202
+ <axis xyz="0 1 0" />
1203
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1204
+ velocity="3.0000" />
1205
+ <origin xyz="0 0 0" rpy="0 0 0" />
1206
+ </joint>
1207
+ <joint name="joint_Head_Y" type="revolute">
1208
+ <parent link="link_Head_P" />
1209
+ <child link="link_Head_Y" />
1210
+ <axis xyz="0 0 1" />
1211
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1212
+ velocity="3.0000" />
1213
+ <origin xyz="0 0 0" rpy="0 0 0" />
1214
+ </joint>
1215
+ <joint name="joint_RightShoulder_R" type="revolute">
1216
+ <parent link="link_Spine2_Y" />
1217
+ <child link="link_RightShoulder_R" />
1218
+ <axis xyz="1 0 0" />
1219
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1220
+ velocity="3.0000" />
1221
+ <origin rpy="0.0 0.0 0" xyz="0.029000 0.0 0.133400" />
1222
+ </joint>
1223
+ <joint name="joint_RightShoulder_P" type="revolute">
1224
+ <parent link="link_RightShoulder_R" />
1225
+ <child link="link_RightShoulder_P" />
1226
+ <axis xyz="0 1 0" />
1227
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1228
+ velocity="3.0000" />
1229
+ <origin xyz="0 0 0" rpy="0 0 0" />
1230
+ </joint>
1231
+ <joint name="joint_RightShoulder_Y" type="revolute">
1232
+ <parent link="link_RightShoulder_P" />
1233
+ <child link="link_RightShoulder_Y" />
1234
+ <axis xyz="0 0 1" />
1235
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1236
+ velocity="3.0000" />
1237
+ <origin xyz="0 0 0" rpy="0 0 0" />
1238
+ </joint>
1239
+ <joint name="joint_RightArm_R" type="revolute">
1240
+ <parent link="link_RightShoulder_Y" />
1241
+ <child link="link_RightArm_R" />
1242
+ <axis xyz="1 0 0" />
1243
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1244
+ velocity="3.0000" />
1245
+ <origin rpy="0.0 0.0 0.0" xyz="0.161000 0.0 0.0" />
1246
+ </joint>
1247
+ <joint name="joint_RightArm_P" type="revolute">
1248
+ <parent link="link_RightArm_R" />
1249
+ <child link="link_RightArm_P" />
1250
+ <axis xyz="0 1 0" />
1251
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1252
+ velocity="3.0000" />
1253
+ <origin xyz="0 0 0" rpy="0 0 0" />
1254
+ </joint>
1255
+ <joint name="joint_RightArm_Y" type="revolute">
1256
+ <parent link="link_RightArm_P" />
1257
+ <child link="link_RightArm_Y" />
1258
+ <axis xyz="0 0 1" />
1259
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1260
+ velocity="3.0000" />
1261
+ <origin xyz="0 0 0" rpy="0 0 0" />
1262
+ </joint>
1263
+ <joint name="joint_RightForeArm_R" type="revolute">
1264
+ <parent link="link_RightArm_Y" />
1265
+ <child link="link_RightForeArm_R" />
1266
+ <axis xyz="1 0 0" />
1267
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1268
+ velocity="3.0000" />
1269
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.280000" />
1270
+ </joint>
1271
+ <joint name="joint_RightForeArm_P" type="revolute">
1272
+ <parent link="link_RightForeArm_R" />
1273
+ <child link="link_RightForeArm_P" />
1274
+ <axis xyz="0 1 0" />
1275
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1276
+ velocity="3.0000" />
1277
+ <origin xyz="0 0 0" rpy="0 0 0" />
1278
+ </joint>
1279
+ <joint name="joint_RightForeArm_Y" type="revolute">
1280
+ <parent link="link_RightForeArm_P" />
1281
+ <child link="link_RightForeArm_Y" />
1282
+ <axis xyz="0 0 1" />
1283
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1284
+ velocity="3.0000" />
1285
+ <origin xyz="0 0 0" rpy="0 0 0" />
1286
+ </joint>
1287
+ <joint name="joint_RightHand_R" type="revolute">
1288
+ <parent link="link_RightForeArm_Y" />
1289
+ <child link="link_RightHand_R" />
1290
+ <axis xyz="1 0 0" />
1291
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1292
+ velocity="3.0000" />
1293
+ <origin rpy="0 0 0" xyz="0.0 0.0 -0.260000" />
1294
+ </joint>
1295
+ <joint name="joint_RightHand_P" type="revolute">
1296
+ <parent link="link_RightHand_R" />
1297
+ <child link="link_RightHand_P" />
1298
+ <axis xyz="0 1 0" />
1299
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1300
+ velocity="3.0000" />
1301
+ <origin xyz="0 0 0" rpy="0 0 0" />
1302
+ </joint>
1303
+ <joint name="joint_RightHand_Y" type="revolute">
1304
+ <parent link="link_RightHand_P" />
1305
+ <child link="link_RightHand_Y" />
1306
+ <axis xyz="0 0 1" />
1307
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1308
+ velocity="3.0000" />
1309
+ <origin xyz="0 0 0" rpy="0 0 0" />
1310
+ </joint>
1311
+ <joint name="joint_RightHandThumb1_R" type="revolute">
1312
+ <parent link="link_RightHand_Y" />
1313
+ <child link="link_RightHandThumb1_R" />
1314
+ <axis xyz="1 0 0" />
1315
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1316
+ velocity="3.0000" />
1317
+ <origin rpy="0 0 0" xyz="-0.002290 0.020847 -0.024347" />
1318
+ </joint>
1319
+ <joint name="joint_RightHandThumb1_P" type="revolute">
1320
+ <parent link="link_RightHandThumb1_R" />
1321
+ <child link="link_RightHandThumb1_P" />
1322
+ <axis xyz="0 1 0" />
1323
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1324
+ velocity="3.0000" />
1325
+ <origin xyz="0 0 0" rpy="0 0 0" />
1326
+ </joint>
1327
+ <joint name="joint_RightHandThumb1_Y" type="revolute">
1328
+ <parent link="link_RightHandThumb1_P" />
1329
+ <child link="link_RightHandThumb1_Y" />
1330
+ <axis xyz="0 0 1" />
1331
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1332
+ velocity="3.0000" />
1333
+ <origin xyz="0 0 0" rpy="0 0 0" />
1334
+ </joint>
1335
+ <joint name="joint_RightHandThumb2_R" type="revolute">
1336
+ <parent link="link_RightHandThumb1_Y" />
1337
+ <child link="link_RightHandThumb2_R" />
1338
+ <axis xyz="1 0 0" />
1339
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1340
+ velocity="3.0000" />
1341
+ <origin rpy="0 0 0" xyz="0.0 0.0 -0.038720" />
1342
+ </joint>
1343
+ <joint name="joint_RightHandThumb2_P" type="revolute">
1344
+ <parent link="link_RightHandThumb2_R" />
1345
+ <child link="link_RightHandThumb2_P" />
1346
+ <axis xyz="0 1 0" />
1347
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1348
+ velocity="3.0000" />
1349
+ <origin xyz="0 0 0" rpy="0 0 0" />
1350
+ </joint>
1351
+ <joint name="joint_RightHandThumb2_Y" type="revolute">
1352
+ <parent link="link_RightHandThumb2_P" />
1353
+ <child link="link_RightHandThumb2_Y" />
1354
+ <axis xyz="0 0 1" />
1355
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1356
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1357
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1371
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1400
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1417
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1420
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1422
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1425
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1430
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1440
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1441
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1470
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1500
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1518
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1526
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1614
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1620
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1621
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1622
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1630
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1632
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1654
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1660
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1662
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1665
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1670
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1685
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1686
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1690
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1691
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1692
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1698
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1699
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1700
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1701
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1706
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1707
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1708
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1709
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1710
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1713
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1714
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1715
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1716
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1717
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1718
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1719
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1721
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1722
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1724
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1725
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1726
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1727
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1728
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1729
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1730
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1731
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1732
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1733
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1734
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1735
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1736
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1737
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1738
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1739
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1740
+ velocity="3.0000" />
1741
+ <origin xyz="0 0 0" rpy="0 0 0" />
1742
+ </joint>
1743
+ <joint name="joint_RightHandPinky3_R" type="revolute">
1744
+ <parent link="link_RightHandPinky2_Y" />
1745
+ <child link="link_RightHandPinky3_R" />
1746
+ <axis xyz="1 0 0" />
1747
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1748
+ velocity="3.0000" />
1749
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.018310" />
1750
+ </joint>
1751
+ <joint name="joint_RightHandPinky3_P" type="revolute">
1752
+ <parent link="link_RightHandPinky3_R" />
1753
+ <child link="link_RightHandPinky3_P" />
1754
+ <axis xyz="0 1 0" />
1755
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1756
+ velocity="3.0000" />
1757
+ <origin xyz="0 0 0" rpy="0 0 0" />
1758
+ </joint>
1759
+ <joint name="joint_RightHandPinky3_Y" type="revolute">
1760
+ <parent link="link_RightHandPinky3_P" />
1761
+ <child link="link_RightHandPinky3_Y" />
1762
+ <axis xyz="0 0 1" />
1763
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1764
+ velocity="3.0000" />
1765
+ <origin xyz="0 0 0" rpy="0 0 0" />
1766
+ </joint>
1767
+ <joint name="joint_LeftShoulder_R" type="revolute">
1768
+ <parent link="link_Spine2_Y" />
1769
+ <child link="link_LeftShoulder_R" />
1770
+ <axis xyz="1 0 0" />
1771
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1772
+ velocity="3.0000" />
1773
+ <origin rpy="0.0 0.0 0" xyz="-0.029000 0.0 0.133400" />
1774
+ </joint>
1775
+ <joint name="joint_LeftShoulder_P" type="revolute">
1776
+ <parent link="link_LeftShoulder_R" />
1777
+ <child link="link_LeftShoulder_P" />
1778
+ <axis xyz="0 1 0" />
1779
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1780
+ velocity="3.0000" />
1781
+ <origin xyz="0 0 0" rpy="0 0 0" />
1782
+ </joint>
1783
+ <joint name="joint_LeftShoulder_Y" type="revolute">
1784
+ <parent link="link_LeftShoulder_P" />
1785
+ <child link="link_LeftShoulder_Y" />
1786
+ <axis xyz="0 0 1" />
1787
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1788
+ velocity="3.0000" />
1789
+ <origin xyz="0 0 0" rpy="0 0 0" />
1790
+ </joint>
1791
+ <joint name="joint_LeftArm_R" type="revolute">
1792
+ <parent link="link_LeftShoulder_Y" />
1793
+ <child link="link_LeftArm_R" />
1794
+ <axis xyz="1 0 0" />
1795
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1796
+ velocity="3.0000" />
1797
+ <origin rpy="0.0 0.0 0.0" xyz="-0.161000 0.0 0.0" />
1798
+ </joint>
1799
+ <joint name="joint_LeftArm_P" type="revolute">
1800
+ <parent link="link_LeftArm_R" />
1801
+ <child link="link_LeftArm_P" />
1802
+ <axis xyz="0 1 0" />
1803
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1804
+ velocity="3.0000" />
1805
+ <origin xyz="0 0 0" rpy="0 0 0" />
1806
+ </joint>
1807
+ <joint name="joint_LeftArm_Y" type="revolute">
1808
+ <parent link="link_LeftArm_P" />
1809
+ <child link="link_LeftArm_Y" />
1810
+ <axis xyz="0 0 1" />
1811
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1812
+ velocity="3.0000" />
1813
+ <origin xyz="0 0 0" rpy="0 0 0" />
1814
+ </joint>
1815
+ <joint name="joint_LeftForeArm_R" type="revolute">
1816
+ <parent link="link_LeftArm_Y" />
1817
+ <child link="link_LeftForeArm_R" />
1818
+ <axis xyz="1 0 0" />
1819
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1820
+ velocity="3.0000" />
1821
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.280000" />
1822
+ </joint>
1823
+ <joint name="joint_LeftForeArm_P" type="revolute">
1824
+ <parent link="link_LeftForeArm_R" />
1825
+ <child link="link_LeftForeArm_P" />
1826
+ <axis xyz="0 1 0" />
1827
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1828
+ velocity="3.0000" />
1829
+ <origin xyz="0 0 0" rpy="0 0 0" />
1830
+ </joint>
1831
+ <joint name="joint_LeftForeArm_Y" type="revolute">
1832
+ <parent link="link_LeftForeArm_P" />
1833
+ <child link="link_LeftForeArm_Y" />
1834
+ <axis xyz="0 0 1" />
1835
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1836
+ velocity="3.0000" />
1837
+ <origin xyz="0 0 0" rpy="0 0 0" />
1838
+ </joint>
1839
+ <joint name="joint_LeftHand_R" type="revolute">
1840
+ <parent link="link_LeftForeArm_Y" />
1841
+ <child link="link_LeftHand_R" />
1842
+ <axis xyz="1 0 0" />
1843
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1844
+ velocity="3.0000" />
1845
+ <origin rpy="0 0 0" xyz="0.0 0.0 -0.260000" />
1846
+ </joint>
1847
+ <joint name="joint_LeftHand_P" type="revolute">
1848
+ <parent link="link_LeftHand_R" />
1849
+ <child link="link_LeftHand_P" />
1850
+ <axis xyz="0 1 0" />
1851
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1852
+ velocity="3.0000" />
1853
+ <origin xyz="0 0 0" rpy="0 0 0" />
1854
+ </joint>
1855
+ <joint name="joint_LeftHand_Y" type="revolute">
1856
+ <parent link="link_LeftHand_P" />
1857
+ <child link="link_LeftHand_Y" />
1858
+ <axis xyz="0 0 1" />
1859
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1860
+ velocity="3.0000" />
1861
+ <origin xyz="0 0 0" rpy="0 0 0" />
1862
+ </joint>
1863
+ <joint name="joint_LeftHandThumb1_R" type="revolute">
1864
+ <parent link="link_LeftHand_Y" />
1865
+ <child link="link_LeftHandThumb1_R" />
1866
+ <axis xyz="1 0 0" />
1867
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1868
+ velocity="3.0000" />
1869
+ <origin rpy="0 0 0" xyz="0.002290 0.020847 -0.024347" />
1870
+ </joint>
1871
+ <joint name="joint_LeftHandThumb1_P" type="revolute">
1872
+ <parent link="link_LeftHandThumb1_R" />
1873
+ <child link="link_LeftHandThumb1_P" />
1874
+ <axis xyz="0 1 0" />
1875
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1876
+ velocity="3.0000" />
1877
+ <origin xyz="0 0 0" rpy="0 0 0" />
1878
+ </joint>
1879
+ <joint name="joint_LeftHandThumb1_Y" type="revolute">
1880
+ <parent link="link_LeftHandThumb1_P" />
1881
+ <child link="link_LeftHandThumb1_Y" />
1882
+ <axis xyz="0 0 1" />
1883
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1884
+ velocity="3.0000" />
1885
+ <origin xyz="0 0 0" rpy="0 0 0" />
1886
+ </joint>
1887
+ <joint name="joint_LeftHandThumb2_R" type="revolute">
1888
+ <parent link="link_LeftHandThumb1_Y" />
1889
+ <child link="link_LeftHandThumb2_R" />
1890
+ <axis xyz="1 0 0" />
1891
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1892
+ velocity="3.0000" />
1893
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.038720" />
1894
+ </joint>
1895
+ <joint name="joint_LeftHandThumb2_P" type="revolute">
1896
+ <parent link="link_LeftHandThumb2_R" />
1897
+ <child link="link_LeftHandThumb2_P" />
1898
+ <axis xyz="0 1 0" />
1899
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1900
+ velocity="3.0000" />
1901
+ <origin xyz="0 0 0" rpy="0 0 0" />
1902
+ </joint>
1903
+ <joint name="joint_LeftHandThumb2_Y" type="revolute">
1904
+ <parent link="link_LeftHandThumb2_P" />
1905
+ <child link="link_LeftHandThumb2_Y" />
1906
+ <axis xyz="0 0 1" />
1907
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1908
+ velocity="3.0000" />
1909
+ <origin xyz="0 0 0" rpy="0 0 0" />
1910
+ </joint>
1911
+ <joint name="joint_LeftHandThumb3_R" type="revolute">
1912
+ <parent link="link_LeftHandThumb2_Y" />
1913
+ <child link="link_LeftHandThumb3_R" />
1914
+ <axis xyz="1 0 0" />
1915
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1916
+ velocity="3.0000" />
1917
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.026900" />
1918
+ </joint>
1919
+ <joint name="joint_LeftHandThumb3_P" type="revolute">
1920
+ <parent link="link_LeftHandThumb3_R" />
1921
+ <child link="link_LeftHandThumb3_P" />
1922
+ <axis xyz="0 1 0" />
1923
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1924
+ velocity="3.0000" />
1925
+ <origin xyz="0 0 0" rpy="0 0 0" />
1926
+ </joint>
1927
+ <joint name="joint_LeftHandThumb3_Y" type="revolute">
1928
+ <parent link="link_LeftHandThumb3_P" />
1929
+ <child link="link_LeftHandThumb3_Y" />
1930
+ <axis xyz="0 0 1" />
1931
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1932
+ velocity="3.0000" />
1933
+ <origin xyz="0 0 0" rpy="0 0 0" />
1934
+ </joint>
1935
+ <joint name="joint_LeftInHandIndex_R" type="revolute">
1936
+ <parent link="link_LeftHand_Y" />
1937
+ <child link="link_LeftInHandIndex_R" />
1938
+ <axis xyz="1 0 0" />
1939
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1940
+ velocity="3.0000" />
1941
+ <origin rpy="0 0 0" xyz="0.004337 0.011103 -0.038311" />
1942
+ </joint>
1943
+ <joint name="joint_LeftInHandIndex_P" type="revolute">
1944
+ <parent link="link_LeftInHandIndex_R" />
1945
+ <child link="link_LeftInHandIndex_P" />
1946
+ <axis xyz="0 1 0" />
1947
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1948
+ velocity="3.0000" />
1949
+ <origin xyz="0 0 0" rpy="0 0 0" />
1950
+ </joint>
1951
+ <joint name="joint_LeftInHandIndex_Y" type="revolute">
1952
+ <parent link="link_LeftInHandIndex_P" />
1953
+ <child link="link_LeftInHandIndex_Y" />
1954
+ <axis xyz="0 0 1" />
1955
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1956
+ velocity="3.0000" />
1957
+ <origin xyz="0 0 0" rpy="0 0 0" />
1958
+ </joint>
1959
+ <joint name="joint_LeftHandIndex1_R" type="revolute">
1960
+ <parent link="link_LeftInHandIndex_Y" />
1961
+ <child link="link_LeftHandIndex1_R" />
1962
+ <axis xyz="1 0 0" />
1963
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1964
+ velocity="3.0000" />
1965
+ <origin rpy="0 0 0" xyz="0.0 -0.0 -0.055856" />
1966
+ </joint>
1967
+ <joint name="joint_LeftHandIndex1_P" type="revolute">
1968
+ <parent link="link_LeftHandIndex1_R" />
1969
+ <child link="link_LeftHandIndex1_P" />
1970
+ <axis xyz="0 1 0" />
1971
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1972
+ velocity="3.0000" />
1973
+ <origin xyz="0 0 0" rpy="0 0 0" />
1974
+ </joint>
1975
+ <joint name="joint_LeftHandIndex1_Y" type="revolute">
1976
+ <parent link="link_LeftHandIndex1_P" />
1977
+ <child link="link_LeftHandIndex1_Y" />
1978
+ <axis xyz="0 0 1" />
1979
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1980
+ velocity="3.0000" />
1981
+ <origin xyz="0 0 0" rpy="0 0 0" />
1982
+ </joint>
1983
+ <joint name="joint_LeftHandIndex2_R" type="revolute">
1984
+ <parent link="link_LeftHandIndex1_Y" />
1985
+ <child link="link_LeftHandIndex2_R" />
1986
+ <axis xyz="1 0 0" />
1987
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1988
+ velocity="3.0000" />
1989
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.038060" />
1990
+ </joint>
1991
+ <joint name="joint_LeftHandIndex2_P" type="revolute">
1992
+ <parent link="link_LeftHandIndex2_R" />
1993
+ <child link="link_LeftHandIndex2_P" />
1994
+ <axis xyz="0 1 0" />
1995
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
1996
+ velocity="3.0000" />
1997
+ <origin xyz="0 0 0" rpy="0 0 0" />
1998
+ </joint>
1999
+ <joint name="joint_LeftHandIndex2_Y" type="revolute">
2000
+ <parent link="link_LeftHandIndex2_P" />
2001
+ <child link="link_LeftHandIndex2_Y" />
2002
+ <axis xyz="0 0 1" />
2003
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2004
+ velocity="3.0000" />
2005
+ <origin xyz="0 0 0" rpy="0 0 0" />
2006
+ </joint>
2007
+ <joint name="joint_LeftHandIndex3_R" type="revolute">
2008
+ <parent link="link_LeftHandIndex2_Y" />
2009
+ <child link="link_LeftHandIndex3_R" />
2010
+ <axis xyz="1 0 0" />
2011
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2012
+ velocity="3.0000" />
2013
+ <origin rpy="0.0 0.0 -0.0" xyz="0.0 -0.0 -0.021580" />
2014
+ </joint>
2015
+ <joint name="joint_LeftHandIndex3_P" type="revolute">
2016
+ <parent link="link_LeftHandIndex3_R" />
2017
+ <child link="link_LeftHandIndex3_P" />
2018
+ <axis xyz="0 1 0" />
2019
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2020
+ velocity="3.0000" />
2021
+ <origin xyz="0 0 0" rpy="0 0 0" />
2022
+ </joint>
2023
+ <joint name="joint_LeftHandIndex3_Y" type="revolute">
2024
+ <parent link="link_LeftHandIndex3_P" />
2025
+ <child link="link_LeftHandIndex3_Y" />
2026
+ <axis xyz="0 0 1" />
2027
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2028
+ velocity="3.0000" />
2029
+ <origin xyz="0 0 0" rpy="0 0 0" />
2030
+ </joint>
2031
+ <joint name="joint_LeftInHandMiddle_R" type="revolute">
2032
+ <parent link="link_LeftHand_Y" />
2033
+ <child link="link_LeftInHandMiddle_R" />
2034
+ <axis xyz="1 0 0" />
2035
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2036
+ velocity="3.0000" />
2037
+ <origin rpy="0 0 0" xyz="0.001414 -0.001419 -0.036789" />
2038
+ </joint>
2039
+ <joint name="joint_LeftInHandMiddle_P" type="revolute">
2040
+ <parent link="link_LeftInHandMiddle_R" />
2041
+ <child link="link_LeftInHandMiddle_P" />
2042
+ <axis xyz="0 1 0" />
2043
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2044
+ velocity="3.0000" />
2045
+ <origin xyz="0 0 0" rpy="0 0 0" />
2046
+ </joint>
2047
+ <joint name="joint_LeftInHandMiddle_Y" type="revolute">
2048
+ <parent link="link_LeftInHandMiddle_P" />
2049
+ <child link="link_LeftInHandMiddle_Y" />
2050
+ <axis xyz="0 0 1" />
2051
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2052
+ velocity="3.0000" />
2053
+ <origin xyz="0 0 0" rpy="0 0 0" />
2054
+ </joint>
2055
+ <joint name="joint_LeftHandMiddle1_R" type="revolute">
2056
+ <parent link="link_LeftInHandMiddle_Y" />
2057
+ <child link="link_LeftHandMiddle1_R" />
2058
+ <axis xyz="1 0 0" />
2059
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2060
+ velocity="3.0000" />
2061
+ <origin rpy="0 0 0" xyz="0.0 0.0 -0.054517" />
2062
+ </joint>
2063
+ <joint name="joint_LeftHandMiddle1_P" type="revolute">
2064
+ <parent link="link_LeftHandMiddle1_R" />
2065
+ <child link="link_LeftHandMiddle1_P" />
2066
+ <axis xyz="0 1 0" />
2067
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2068
+ velocity="3.0000" />
2069
+ <origin xyz="0 0 0" rpy="0 0 0" />
2070
+ </joint>
2071
+ <joint name="joint_LeftHandMiddle1_Y" type="revolute">
2072
+ <parent link="link_LeftHandMiddle1_P" />
2073
+ <child link="link_LeftHandMiddle1_Y" />
2074
+ <axis xyz="0 0 1" />
2075
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2076
+ velocity="3.0000" />
2077
+ <origin xyz="0 0 0" rpy="0 0 0" />
2078
+ </joint>
2079
+ <joint name="joint_LeftHandMiddle2_R" type="revolute">
2080
+ <parent link="link_LeftHandMiddle1_Y" />
2081
+ <child link="link_LeftHandMiddle2_R" />
2082
+ <axis xyz="1 0 0" />
2083
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2084
+ velocity="3.0000" />
2085
+ <origin rpy="0.0 0.0 -0.0" xyz="0.0 -0.0 -0.041530" />
2086
+ </joint>
2087
+ <joint name="joint_LeftHandMiddle2_P" type="revolute">
2088
+ <parent link="link_LeftHandMiddle2_R" />
2089
+ <child link="link_LeftHandMiddle2_P" />
2090
+ <axis xyz="0 1 0" />
2091
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2092
+ velocity="3.0000" />
2093
+ <origin xyz="0 0 0" rpy="0 0 0" />
2094
+ </joint>
2095
+ <joint name="joint_LeftHandMiddle2_Y" type="revolute">
2096
+ <parent link="link_LeftHandMiddle2_P" />
2097
+ <child link="link_LeftHandMiddle2_Y" />
2098
+ <axis xyz="0 0 1" />
2099
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2100
+ velocity="3.0000" />
2101
+ <origin xyz="0 0 0" rpy="0 0 0" />
2102
+ </joint>
2103
+ <joint name="joint_LeftHandMiddle3_R" type="revolute">
2104
+ <parent link="link_LeftHandMiddle2_Y" />
2105
+ <child link="link_LeftHandMiddle3_R" />
2106
+ <axis xyz="1 0 0" />
2107
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2108
+ velocity="3.0000" />
2109
+ <origin rpy="0.0 0.0 -0.0" xyz="0.0 -0.0 -0.026030" />
2110
+ </joint>
2111
+ <joint name="joint_LeftHandMiddle3_P" type="revolute">
2112
+ <parent link="link_LeftHandMiddle3_R" />
2113
+ <child link="link_LeftHandMiddle3_P" />
2114
+ <axis xyz="0 1 0" />
2115
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2116
+ velocity="3.0000" />
2117
+ <origin xyz="0 0 0" rpy="0 0 0" />
2118
+ </joint>
2119
+ <joint name="joint_LeftHandMiddle3_Y" type="revolute">
2120
+ <parent link="link_LeftHandMiddle3_P" />
2121
+ <child link="link_LeftHandMiddle3_Y" />
2122
+ <axis xyz="0 0 1" />
2123
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2124
+ velocity="3.0000" />
2125
+ <origin xyz="0 0 0" rpy="0 0 0" />
2126
+ </joint>
2127
+ <joint name="joint_LeftInHandRing_R" type="revolute">
2128
+ <parent link="link_LeftHand_Y" />
2129
+ <child link="link_LeftInHandRing_R" />
2130
+ <axis xyz="1 0 0" />
2131
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2132
+ velocity="3.0000" />
2133
+ <origin rpy="0 0 0" xyz="-0.000343 -0.010250 -0.034368" />
2134
+ </joint>
2135
+ <joint name="joint_LeftInHandRing_P" type="revolute">
2136
+ <parent link="link_LeftInHandRing_R" />
2137
+ <child link="link_LeftInHandRing_P" />
2138
+ <axis xyz="0 1 0" />
2139
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2140
+ velocity="3.0000" />
2141
+ <origin xyz="0 0 0" rpy="0 0 0" />
2142
+ </joint>
2143
+ <joint name="joint_LeftInHandRing_Y" type="revolute">
2144
+ <parent link="link_LeftInHandRing_P" />
2145
+ <child link="link_LeftInHandRing_Y" />
2146
+ <axis xyz="0 0 1" />
2147
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2148
+ velocity="3.0000" />
2149
+ <origin xyz="0 0 0" rpy="0 0 0" />
2150
+ </joint>
2151
+ <joint name="joint_LeftHandRing1_R" type="revolute">
2152
+ <parent link="link_LeftInHandRing_Y" />
2153
+ <child link="link_LeftHandRing1_R" />
2154
+ <axis xyz="1 0 0" />
2155
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2156
+ velocity="3.0000" />
2157
+ <origin rpy="0 0 0" xyz="0.0 0.0 -0.048991" />
2158
+ </joint>
2159
+ <joint name="joint_LeftHandRing1_P" type="revolute">
2160
+ <parent link="link_LeftHandRing1_R" />
2161
+ <child link="link_LeftHandRing1_P" />
2162
+ <axis xyz="0 1 0" />
2163
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2164
+ velocity="3.0000" />
2165
+ <origin xyz="0 0 0" rpy="0 0 0" />
2166
+ </joint>
2167
+ <joint name="joint_LeftHandRing1_Y" type="revolute">
2168
+ <parent link="link_LeftHandRing1_P" />
2169
+ <child link="link_LeftHandRing1_Y" />
2170
+ <axis xyz="0 0 1" />
2171
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2172
+ velocity="3.0000" />
2173
+ <origin xyz="0 0 0" rpy="0 0 0" />
2174
+ </joint>
2175
+ <joint name="joint_LeftHandRing2_R" type="revolute">
2176
+ <parent link="link_LeftHandRing1_Y" />
2177
+ <child link="link_LeftHandRing2_R" />
2178
+ <axis xyz="1 0 0" />
2179
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2180
+ velocity="3.0000" />
2181
+ <origin rpy="0.0 0.0 -0.0" xyz="0.0 -0.0 -0.036190" />
2182
+ </joint>
2183
+ <joint name="joint_LeftHandRing2_P" type="revolute">
2184
+ <parent link="link_LeftHandRing2_R" />
2185
+ <child link="link_LeftHandRing2_P" />
2186
+ <axis xyz="0 1 0" />
2187
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2188
+ velocity="3.0000" />
2189
+ <origin xyz="0 0 0" rpy="0 0 0" />
2190
+ </joint>
2191
+ <joint name="joint_LeftHandRing2_Y" type="revolute">
2192
+ <parent link="link_LeftHandRing2_P" />
2193
+ <child link="link_LeftHandRing2_Y" />
2194
+ <axis xyz="0 0 1" />
2195
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2196
+ velocity="3.0000" />
2197
+ <origin xyz="0 0 0" rpy="0 0 0" />
2198
+ </joint>
2199
+ <joint name="joint_LeftHandRing3_R" type="revolute">
2200
+ <parent link="link_LeftHandRing2_Y" />
2201
+ <child link="link_LeftHandRing3_R" />
2202
+ <axis xyz="1 0 0" />
2203
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2204
+ velocity="3.0000" />
2205
+ <origin rpy="0.0 0.0 -0.0" xyz="0.0 -0.0 -0.025110" />
2206
+ </joint>
2207
+ <joint name="joint_LeftHandRing3_P" type="revolute">
2208
+ <parent link="link_LeftHandRing3_R" />
2209
+ <child link="link_LeftHandRing3_P" />
2210
+ <axis xyz="0 1 0" />
2211
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2212
+ velocity="3.0000" />
2213
+ <origin xyz="0 0 0" rpy="0 0 0" />
2214
+ </joint>
2215
+ <joint name="joint_LeftHandRing3_Y" type="revolute">
2216
+ <parent link="link_LeftHandRing3_P" />
2217
+ <child link="link_LeftHandRing3_Y" />
2218
+ <axis xyz="0 0 1" />
2219
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2220
+ velocity="3.0000" />
2221
+ <origin xyz="0 0 0" rpy="0 0 0" />
2222
+ </joint>
2223
+ <joint name="joint_LeftInHandPinky_R" type="revolute">
2224
+ <parent link="link_LeftHand_Y" />
2225
+ <child link="link_LeftInHandPinky_R" />
2226
+ <axis xyz="1 0 0" />
2227
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2228
+ velocity="3.0000" />
2229
+ <origin rpy="0 0 0" xyz="-0.003119 -0.020281 -0.029462" />
2230
+ </joint>
2231
+ <joint name="joint_LeftInHandPinky_P" type="revolute">
2232
+ <parent link="link_LeftInHandPinky_R" />
2233
+ <child link="link_LeftInHandPinky_P" />
2234
+ <axis xyz="0 1 0" />
2235
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2236
+ velocity="3.0000" />
2237
+ <origin xyz="0 0 0" rpy="0 0 0" />
2238
+ </joint>
2239
+ <joint name="joint_LeftInHandPinky_Y" type="revolute">
2240
+ <parent link="link_LeftInHandPinky_P" />
2241
+ <child link="link_LeftInHandPinky_Y" />
2242
+ <axis xyz="0 0 1" />
2243
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2244
+ velocity="3.0000" />
2245
+ <origin xyz="0 0 0" rpy="0 0 0" />
2246
+ </joint>
2247
+ <joint name="joint_LeftHandPinky1_R" type="revolute">
2248
+ <parent link="link_LeftInHandPinky_Y" />
2249
+ <child link="link_LeftHandPinky1_R" />
2250
+ <axis xyz="1 0 0" />
2251
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2252
+ velocity="3.0000" />
2253
+ <origin rpy="0 0 0" xyz="0.0 0.0 -0.045026" />
2254
+ </joint>
2255
+ <joint name="joint_LeftHandPinky1_P" type="revolute">
2256
+ <parent link="link_LeftHandPinky1_R" />
2257
+ <child link="link_LeftHandPinky1_P" />
2258
+ <axis xyz="0 1 0" />
2259
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2260
+ velocity="3.0000" />
2261
+ <origin xyz="0 0 0" rpy="0 0 0" />
2262
+ </joint>
2263
+ <joint name="joint_LeftHandPinky1_Y" type="revolute">
2264
+ <parent link="link_LeftHandPinky1_P" />
2265
+ <child link="link_LeftHandPinky1_Y" />
2266
+ <axis xyz="0 0 1" />
2267
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2268
+ velocity="3.0000" />
2269
+ <origin xyz="0 0 0" rpy="0 0 0" />
2270
+ </joint>
2271
+ <joint name="joint_LeftHandPinky2_R" type="revolute">
2272
+ <parent link="link_LeftHandPinky1_Y" />
2273
+ <child link="link_LeftHandPinky2_R" />
2274
+ <axis xyz="1 0 0" />
2275
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2276
+ velocity="3.0000" />
2277
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 -0.028980" />
2278
+ </joint>
2279
+ <joint name="joint_LeftHandPinky2_P" type="revolute">
2280
+ <parent link="link_LeftHandPinky2_R" />
2281
+ <child link="link_LeftHandPinky2_P" />
2282
+ <axis xyz="0 1 0" />
2283
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2284
+ velocity="3.0000" />
2285
+ <origin xyz="0 0 0" rpy="0 0 0" />
2286
+ </joint>
2287
+ <joint name="joint_LeftHandPinky2_Y" type="revolute">
2288
+ <parent link="link_LeftHandPinky2_P" />
2289
+ <child link="link_LeftHandPinky2_Y" />
2290
+ <axis xyz="0 0 1" />
2291
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2292
+ velocity="3.0000" />
2293
+ <origin xyz="0 0 0" rpy="0 0 0" />
2294
+ </joint>
2295
+ <joint name="joint_LeftHandPinky3_R" type="revolute">
2296
+ <parent link="link_LeftHandPinky2_Y" />
2297
+ <child link="link_LeftHandPinky3_R" />
2298
+ <axis xyz="1 0 0" />
2299
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2300
+ velocity="3.0000" />
2301
+ <origin rpy="0.0 0.0 -0.0" xyz="0.0 -0.0 -0.018310" />
2302
+ </joint>
2303
+ <joint name="joint_LeftHandPinky3_P" type="revolute">
2304
+ <parent link="link_LeftHandPinky3_R" />
2305
+ <child link="link_LeftHandPinky3_P" />
2306
+ <axis xyz="0 1 0" />
2307
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2308
+ velocity="3.0000" />
2309
+ <origin xyz="0 0 0" rpy="0 0 0" />
2310
+ </joint>
2311
+ <joint name="joint_LeftHandPinky3_Y" type="revolute">
2312
+ <parent link="link_LeftHandPinky3_P" />
2313
+ <child link="link_LeftHandPinky3_Y" />
2314
+ <axis xyz="0 0 1" />
2315
+ <limit effort="100.0000" lower="-3.1415926536" upper="3.1415926536"
2316
+ velocity="3.0000" />
2317
+ <origin xyz="0 0 0" rpy="0 0 0" />
2318
+ </joint>
2319
+ </robot>