redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

data/humanoid.urdf
586 строк20 KB
Erwin Coumans
add humanoid.urdf, converted from mjcf using pybullet_utils.urdfEditor.UrdfEditor()
31 окт 2018, 19:17
31 окт 2018, 19:17624212c
<?xml version="0.0" ?>
<robot name="">
	<link name="torso">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="-0.01000 0.00000 -0.12000"/>
			<mass value="8.90746"/>
			<inertia ixx="0.21526" ixy="0" ixz="0" iyy="0.18112" iyz="0" izz="0.08225"/>
		</inertial>
		<collision>
			<origin rpy="-1.57080 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<geometry>
				<capsule length="0.14000" radius="0.07000"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.19000"/>
			<geometry>
				<sphere radius="0.09000"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.57080 0.00000 0.00000" xyz="-0.01000 0.00000 -0.12000"/>
			<geometry>
				<capsule length="0.12000" radius="0.06000"/>
			</geometry>
		</collision>
	</link>
	<link name="link1_2">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="link1_3">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="lwaist">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="2.26195"/>
			<inertia ixx="0.01357" ixy="0" ixz="0" iyy="0.00543" iyz="0" izz="0.01357"/>
		</inertial>
		<collision>
			<origin rpy="-1.57080 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<geometry>
				<capsule length="0.12000" radius="0.06000"/>
			</geometry>
		</collision>
	</link>
	<link name="link1_5">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="pelvis">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="-0.02000 0.00000 0.00000"/>
			<mass value="6.61619"/>
			<inertia ixx="0.07432" ixy="0" ixz="0" iyy="0.03573" iyz="0" izz="0.07432"/>
		</inertial>
		<collision>
			<origin rpy="-1.57080 0.00000 0.00000" xyz="-0.02000 0.00000 0.00000"/>
			<geometry>
				<capsule length="0.14000" radius="0.09000"/>
			</geometry>
		</collision>
	</link>
	<link name="link1_7">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="link1_8">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="link1_9">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="right_thigh">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00500 -0.17000"/>
			<mass value="4.75175"/>
			<inertia ixx="0.09212" ixy="0" ixz="0" iyy="0.09076" iyz="0" izz="0.01276"/>
		</inertial>
		<collision>
			<origin rpy="-3.11219 -0.00000 0.00000" xyz="0.00000 0.00500 -0.17000"/>
			<geometry>
				<capsule length="0.34015" radius="0.06000"/>
			</geometry>
		</collision>
	</link>
	<link name="link1_11">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="right_shin">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.15000"/>
			<mass value="2.75570"/>
			<inertia ixx="0.03858" ixy="0" ixz="0" iyy="0.03858" iyz="0" izz="0.00441"/>
		</inertial>
		<collision>
			<origin rpy="3.14159 -0.00000 3.14159" xyz="0.00000 0.00000 -0.15000"/>
			<geometry>
				<capsule length="0.30000" radius="0.04900"/>
			</geometry>
		</collision>
	</link>
	<link name="link1_13">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="link1_14">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="right_foot">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.03500 0.01000 0.00000"/>
			<mass value="1.13114"/>
			<inertia ixx="0.00177" ixy="0" ixz="0" iyy="0.00716" iyz="0" izz="0.00828"/>
		</inertial>
		<collision>
			<origin rpy="1.57080 1.47585 1.47585" xyz="0.03500 -0.03000 0.00000"/>
			<geometry>
				<capsule length="0.21095" radius="0.02700"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="-1.57080 1.47585 -1.47585" xyz="0.03500 0.01000 0.00000"/>
			<geometry>
				<capsule length="0.21095" radius="0.02700"/>
			</geometry>
		</collision>
	</link>
	<link name="link1_16">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="link1_17">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="link1_18">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="left_thigh">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.00500 -0.17000"/>
			<mass value="4.75175"/>
			<inertia ixx="0.09212" ixy="0" ixz="0" iyy="0.09076" iyz="0" izz="0.01276"/>
		</inertial>
		<collision>
			<origin rpy="3.11219 -0.00000 0.00000" xyz="0.00000 -0.00500 -0.17000"/>
			<geometry>
				<capsule length="0.34015" radius="0.06000"/>
			</geometry>
		</collision>
	</link>
	<link name="link1_20">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="left_shin">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.15000"/>
			<mass value="2.75570"/>
			<inertia ixx="0.03858" ixy="0" ixz="0" iyy="0.03858" iyz="0" izz="0.00441"/>
		</inertial>
		<collision>
			<origin rpy="3.14159 -0.00000 3.14159" xyz="0.00000 0.00000 -0.15000"/>
			<geometry>
				<capsule length="0.30000" radius="0.04900"/>
			</geometry>
		</collision>
	</link>
	<link name="link1_22">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="link1_23">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="left_foot">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.03500 -0.01000 0.00000"/>
			<mass value="1.13114"/>
			<inertia ixx="0.00177" ixy="0" ixz="0" iyy="0.00716" iyz="0" izz="0.00828"/>
		</inertial>
		<collision>
			<origin rpy="-1.57080 1.47585 -1.47585" xyz="0.03500 0.03000 0.00000"/>
			<geometry>
				<capsule length="0.21095" radius="0.02700"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="1.57080 1.47585 1.47585" xyz="0.03500 -0.01000 0.00000"/>
			<geometry>
				<capsule length="0.21095" radius="0.02700"/>
			</geometry>
		</collision>
	</link>
	<link name="link1_25">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="link1_26">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="right_upper_arm">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.08000 -0.08000 -0.08000"/>
			<mass value="1.66108"/>
			<inertia ixx="0.02368" ixy="0" ixz="0" iyy="0.02368" iyz="0" izz="0.02267"/>
		</inertial>
		<collision>
			<origin rpy="2.35619 0.61548 1.30900" xyz="0.08000 -0.08000 -0.08000"/>
			<geometry>
				<capsule length="0.27713" radius="0.04000"/>
			</geometry>
		</collision>
	</link>
	<link name="link1_28">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="right_lower_arm">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="1.22954"/>
			<inertia ixx="0.01419" ixy="0" ixz="0" iyy="0.01419" iyz="0" izz="0.01374"/>
		</inertial>
		<collision>
			<origin rpy="-0.78540 0.61548 -0.26180" xyz="0.09000 0.09000 0.09000"/>
			<geometry>
				<capsule length="0.27713" radius="0.03100"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.18000 0.18000 0.18000"/>
			<geometry>
				<sphere radius="0.04000"/>
			</geometry>
		</collision>
	</link>
	<link name="link1_30">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="link1_31">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="left_upper_arm">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.08000 0.08000 -0.08000"/>
			<mass value="1.66108"/>
			<inertia ixx="0.02368" ixy="0" ixz="0" iyy="0.02368" iyz="0" izz="0.02267"/>
		</inertial>
		<collision>
			<origin rpy="-2.35619 0.61548 -1.30900" xyz="0.08000 0.08000 -0.08000"/>
			<geometry>
				<capsule length="0.27713" radius="0.04000"/>
			</geometry>
		</collision>
	</link>
	<link name="link1_33">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="0.00000"/>
			<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
		</inertial>
	</link>
	<link name="left_lower_arm">
		<inertial>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
			<mass value="1.22954"/>
			<inertia ixx="0.01419" ixy="0" ixz="0" iyy="0.01419" iyz="0" izz="0.01374"/>
		</inertial>
		<collision>
			<origin rpy="0.78540 0.61548 0.26180" xyz="0.09000 -0.09000 0.09000"/>
			<geometry>
				<capsule length="0.27713" radius="0.03100"/>
			</geometry>
		</collision>
		<collision>
			<origin rpy="0.00000 -0.00000 0.00000" xyz="0.18000 -0.18000 0.18000"/>
			<geometry>
				<sphere radius="0.04000"/>
			</geometry>
		</collision>
	</link>
	<joint name="abdomen_z" type="continuous">
		<parent link="torso"/>
		<child link="link1_2"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00400 0.00000" xyz="-0.01026 0.00000 -0.19500"/>
		<axis xyz="0.00000 0.00000 1.00000"/>
	</joint>
	<joint name="abdomen_y" type="continuous">
		<parent link="link1_2"/>
		<child link="link1_3"/>
		<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 0.00000"/>
	</joint>
	<joint name="jointfix_7_3" type="fixed">
		<parent link="link1_3"/>
		<child link="lwaist"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.06500"/>
		<axis xyz="0.00000 0.00000 0.00000"/>
	</joint>
	<joint name="abdomen_x" type="continuous">
		<parent link="lwaist"/>
		<child link="link1_5"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00400 0.00000" xyz="-0.00040 0.00000 -0.06500"/>
		<axis xyz="1.00000 0.00000 0.00000"/>
	</joint>
	<joint name="jointfix_6_5" type="fixed">
		<parent link="link1_5"/>
		<child link="pelvis"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.10000"/>
		<axis xyz="0.00000 0.00000 0.00000"/>
	</joint>
	<joint name="right_hip_x" type="continuous">
		<parent link="pelvis"/>
		<child link="link1_7"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.10000 -0.04000"/>
		<axis xyz="1.00000 0.00000 0.00000"/>
	</joint>
	<joint name="right_hip_z" type="continuous">
		<parent link="link1_7"/>
		<child link="link1_8"/>
		<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 1.00000"/>
	</joint>
	<joint name="right_hip_y" type="continuous">
		<parent link="link1_8"/>
		<child link="link1_9"/>
		<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 0.00000"/>
	</joint>
	<joint name="jointfix_2_9" type="fixed">
		<parent link="link1_9"/>
		<child link="right_thigh"/>
		<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_knee" type="continuous">
		<parent link="right_thigh"/>
		<child link="link1_11"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.01000 -0.38300"/>
		<axis xyz="0.00000 -1.00000 0.00000"/>
	</joint>
	<joint name="jointfix_1_11" type="fixed">
		<parent link="link1_11"/>
		<child link="right_shin"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.02000"/>
		<axis xyz="0.00000 0.00000 0.00000"/>
	</joint>
	<joint name="right_ankle_y" type="continuous">
		<parent link="right_shin"/>
		<child link="link1_13"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.31000"/>
		<axis xyz="0.00000 1.00000 0.00000"/>
	</joint>
	<joint name="right_ankle_x" type="continuous">
		<parent link="link1_13"/>
		<child link="link1_14"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.04000"/>
		<axis xyz="1.00000 0.00000 0.50000"/>
	</joint>
	<joint name="jointfix_0_14" type="fixed">
		<parent link="link1_14"/>
		<child link="right_foot"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<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="left_hip_x" type="continuous">
		<parent link="pelvis"/>
		<child link="link1_16"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.10000 -0.04000"/>
		<axis xyz="-1.00000 0.00000 0.00000"/>
	</joint>
	<joint name="left_hip_z" type="continuous">
		<parent link="link1_16"/>
		<child link="link1_17"/>
		<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 -1.00000"/>
	</joint>
	<joint name="left_hip_y" type="continuous">
		<parent link="link1_17"/>
		<child link="link1_18"/>
		<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 0.00000"/>
	</joint>
	<joint name="jointfix_5_18" type="fixed">
		<parent link="link1_18"/>
		<child link="left_thigh"/>
		<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_knee" type="continuous">
		<parent link="left_thigh"/>
		<child link="link1_20"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.01000 -0.38300"/>
		<axis xyz="0.00000 -1.00000 0.00000"/>
	</joint>
	<joint name="jointfix_4_20" type="fixed">
		<parent link="link1_20"/>
		<child link="left_shin"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.02000"/>
		<axis xyz="0.00000 0.00000 0.00000"/>
	</joint>
	<joint name="left_ankle_y" type="continuous">
		<parent link="left_shin"/>
		<child link="link1_22"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.31000"/>
		<axis xyz="0.00000 1.00000 0.00000"/>
	</joint>
	<joint name="left_ankle_x" type="continuous">
		<parent link="link1_22"/>
		<child link="link1_23"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.04000"/>
		<axis xyz="1.00000 0.00000 0.50000"/>
	</joint>
	<joint name="jointfix_3_23" type="fixed">
		<parent link="link1_23"/>
		<child link="left_foot"/>
		<dynamics damping="1.0" friction="0.0001"/>
		<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"/>
	</joint>
	<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"/>
	</joint>
	<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>