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			<origin xyz="3.30518731642866E-05 0.0628256242231928 -0.0106376043749558" rpy="0 0 0"></origin>
			<mass value="0.168140859572398"></mass>
			<inertia ixx="0.000280827719319256" ixy="6.03218629893559E-07" ixz="3.24530722833658E-09" iyy="4.23293519917111E-05" iyz="3.11052764904881E-06" izz="0.000275916197869213"></inertia>
		</inertial>
		<visual>
			<origin xyz="0 0 0" rpy="0 0 0"></origin>
			<geometry>
				<mesh filename="package://meshes/l_upper_arm_visual.STL"></mesh>
			</geometry>
			<material name="">
				<color rgba="0.9 0.9 0.9 1.0"></color>
			</material>
		</visual>
		<collision>
			<origin xyz="0 0 0" rpy="0 0 0"></origin>
			<geometry>
				<mesh filename="package://meshes/l_upper_arm_respondable.STL"></mesh>
			</geometry>
		</collision>
		<mass>0.16814</mass>
	</link>
	<link name="l_forearm">
		<inertial>
			<origin xyz="0.00691480023011085 0.10715758721324 0.00499021473883754" rpy="0 0 0"></origin>
			<mass value="0.0486512481725727"></mass>
			<inertia ixx="0.000185803541823861" ixy="7.31763110936326E-06" ixz="-9.0080655878687E-08" iyy="1.51053240271383E-05" iyz="-1.35878077941956E-05" izz="0.000182745910584552"></inertia>
		</inertial>
		<visual>
			<origin xyz="0 0 0" rpy="0 0 0"></origin>
			<geometry>
				<mesh filename="package://meshes/l_forearm_visual.STL"></mesh>
			</geometry>
			<material name="">
				<color rgba="0.9 0.9 0.9 1.0"></color>
			</material>
		</visual>
		<collision>
			<origin xyz="0 0 0" rpy="0 0 0"></origin>
			<geometry>
				<mesh filename="package://meshes/l_forearm_respondable.STL"></mesh>
			</geometry>
		</collision>
		<mass>0.04863</mass>
	</link>
	<link name="r_shoulder">
		<inertial>
			<origin xyz="-0.0104970276721559 0.00172611065393897 -0.00916610067254806" rpy="0 0 0"></origin>
			<mass value="0.00848189714003649"></mass>
			<inertia ixx="3.40574097306283E-06" ixy="4.48540328143448E-08" ixz="-3.01046953764439E-08" iyy="3.57001060355875E-06" iyz="1.1601962064402E-08" izz="1.85571692853151E-06"></inertia>
		</inertial>
		<visual>
			<origin xyz="0 0 0" rpy="0 0 0"></origin>
			<geometry>
				<mesh filename="package://meshes/r_shoulder_visual.STL"></mesh>
			</geometry>
			<material name="">
				<color rgba="0.9 0.9 0.9 1.0"></color>
			</material>
		</visual>
		<collision>
			<origin xyz="0 0 0" rpy="0 0 0"></origin>
			<geometry>
				<mesh filename="package://meshes/r_shoulder_respondable.STL"></mesh>
			</geometry>
		</collision>
		<mass>0.00838</mass>
	</link>
	<link name="r_shoulder_motor">
		<inertial>
			<origin xyz="2.25562237481797E-07 0.0125756739553211 0.00859826040204864" rpy="0 0 0"></origin>
			<mass value="0.0828144098443213"></mass>
			<inertia ixx="2.76486208811411E-05" ixy="1.32207552352561E-10" ixz="6.68897709796528E-10" iyy="1.64427853426986E-05" iyz="7.23401723852708E-07" izz="2.26416351010787E-05"></inertia>
		</inertial>
		<visual>
			<origin xyz="0 0 0" rpy="0 0 0"></origin>
			<geometry>
				<mesh filename="package://meshes/r_shoulder_motor_visual.STL"></mesh>
			</geometry>
			<material name="">
				<color rgba="0.9 0.9 0.9 1.0"></color>
			</material>
		</visual>
		<collision>
			<origin xyz="0 0 0" rpy="0 0 0"></origin>
			<geometry>
				<mesh filename="package://meshes/r_shoulder_motor_respondable.STL"></mesh>
			</geometry>
		</collision>
		<mass>0.08288</mass>
	</link>
	<link name="r_upper_arm">
		<inertial>
			<origin xyz="-3.32548713521223E-05 0.0628256242258387 -0.0106376027333001" rpy="0 0 0"></origin>
			<mass value="0.16814085957724"></mass>
			<inertia ixx="0.000280827719414285" ixy="-6.03127767269455E-07" ixz="-3.86325402336742E-09" iyy="4.23293497956197E-05" iyz="3.11054354485249E-06" izz="0.00027591619563535"></inertia>
		</inertial>
		<visual>
			<origin xyz="0 0 0" rpy="0 0 0"></origin>
			<geometry>
				<mesh filename="package://meshes/r_upper_arm_visual.STL"></mesh>
			</geometry>
			<material name="">
				<color rgba="0.9 0.9 0.9 1.0"></color>
			</material>
		</visual>
		<collision>
			<origin xyz="0 0 0" rpy="0 0 0"></origin>
			<geometry>
				<mesh filename="package://meshes/r_upper_arm_respondable.STL"></mesh>
			</geometry>
		</collision>
		<mass>0.16814</mass>
	</link>
	<link name="r_forearm">
		<inertial>
			<origin xyz="-0.00691618587524222 0.107157908858058 0.00498983982891094" rpy="0 0 0"></origin>
			<mass value="0.0486511084909604"></mass>
			<inertia ixx="0.000185805096233415" ixy="-7.3225450436654E-06" ixz="9.10153472751173E-08" iyy="1.51060270748784E-05" iyz="-1.35866305828973E-05" izz="0.000182748555542486"></inertia>
		</inertial>
		<visual>
			<origin xyz="0 0 0" rpy="0 0 0"></origin>
			<geometry>
				<mesh filename="package://meshes/r_forearm_visual.STL"></mesh>
			</geometry>
			<material name="">
				<color rgba="0.9 0.9 0.9 1.0"></color>
			</material>
		</visual>
		<collision>
			<origin xyz="0 0 0" rpy="0 0 0"></origin>
			<geometry>
				<mesh filename="package://meshes/r_forearm_respondable.STL"></mesh>
			</geometry>
		</collision>
		<mass>0.04863</mass>
	</link>
	<joint name="r_hip_x" type="revolute">
		<origin xyz="-0.0225417390633467 0 0" rpy="1.5707963267949 0 0"></origin>
		<parent link="pelvis"></parent>
		<child link="r_hip"></child>
		<axis xyz="0 0 -1"></axis>
		<limit effort="3.1" lower="-0.497418836818" upper="0.523598775598" velocity="7.0"></limit>
	</joint>
	<joint name="r_hip_z" type="revolute">
		<origin xyz="-0.0439986111539757 0 0.005" rpy="0 0 0"></origin>
		<parent link="r_hip"></parent>
		<child link="r_hip_motor"></child>
		<axis xyz="0 -1 0"></axis>
		<limit effort="3.1" lower="-1.57079632679" upper="0.436332312999" velocity="7.0"></limit>
	</joint>
	<joint name="r_hip_y" type="revolute">
		<origin xyz="0 -0.024 0" rpy="0 0 0"></origin>
		<parent link="r_hip_motor"></parent>
		<child link="r_thigh"></child>
		<axis xyz="-1 0 0"></axis>
		<limit effort="7.3" lower="-1.4835298642" upper="1.83259571459" velocity="8.2"></limit>
	</joint>
	<joint name="r_knee_y" type="revolute">
		<origin xyz="0 -0.182 0" rpy="0 1.5707963267949 0"></origin>
		<parent link="r_thigh"></parent>
		<child link="r_shin"></child>
		<axis xyz="0 0 -1"></axis>
		<limit effort="3.1" lower="-2.33874119767" upper="0.0610865238198" velocity="7.0"></limit>
	</joint>
	<joint name="r_ankle_y" type="revolute">
		<origin xyz="0 -0.18 0" rpy="0 -1.5708 0"></origin>
		<parent link="r_shin"></parent>
		<child link="r_foot"></child>
		<axis xyz="-1 0 0"></axis>
		<limit effort="3.1" lower="-0.785398163397" upper="0.785398163397" velocity="7.0"></limit>
	</joint>
	<joint name="l_hip_x" type="revolute">
		<origin xyz="0.0225417390633466 0 0" rpy="1.5707963267949 0 0"></origin>
		<parent link="pelvis"></parent>
		<child link="l_hip"></child>
		<axis xyz="0 0 -1"></axis>
		<limit effort="3.1" lower="-0.523598775598" upper="0.497418836818" velocity="7.0"></limit>
	</joint>
	<joint name="l_hip_z" type="revolute">
		<origin xyz="0.0439986111539757 0 0.005" rpy="0 0 0"></origin>
		<parent link="l_hip"></parent>
		<child link="l_hip_motor"></child>
		<axis xyz="0 -1 0"></axis>
		<limit effort="3.1" lower="-0.436332312999" upper="1.57079632679" velocity="7.0"></limit>
	</joint>
	<joint name="l_hip_y" type="revolute">
		<origin xyz="0 -0.024 0" rpy="0 0 0"></origin>
		<parent link="l_hip_motor"></parent>
		<child link="l_thigh"></child>
		<axis xyz="1 0 0"></axis>
		<limit effort="7.3" lower="-1.81514242207" upper="1.46607657168" velocity="8.2"></limit>
	</joint>
	<joint name="l_knee_y" type="revolute">
		<origin xyz="0 -0.182 0" rpy="0 1.5707963267949 0"></origin>
		<parent link="l_thigh"></parent>
		<child link="l_shin"></child>
		<axis xyz="0 0 -1"></axis>
		<limit effort="3.1" lower="-0.0610865238198" upper="2.33874119767" velocity="7.0"></limit>
	</joint>
	<joint name="l_ankle_y" type="revolute">
		<origin xyz="0 -0.18 0" rpy="0 -1.5708 0"></origin>
		<parent link="l_shin"></parent>
		<child link="l_foot"></child>
		<axis xyz="1 0 0"></axis>
		<limit effort="3.1" lower="-0.785398163397" upper="0.785398163397" velocity="7.0"></limit>
	</joint>
	<joint name="abs_y" type="revolute">
		<origin xyz="0 -0.017 0.061" rpy="1.5707963267949 0 0"></origin>
		<parent link="pelvis"></parent>
		<child link="abs_motors"></child>
		<axis xyz="-1 0 0"></axis>
		<limit effort="7.3" lower="-0.872664625997" upper="0.209439510239" velocity="8.2"></limit>
	</joint>
	<joint name="abs_x" type="revolute">
		<origin xyz="0 0 0" rpy="0 0 0"></origin>
		<parent link="abs_motors"></parent>
		<child link="abdomen"></child>
		<axis xyz="0 0 1"></axis>
		<limit effort="7.3" lower="-0.785398163397" upper="0.785398163397" velocity="8.2"></limit>
	</joint>
	<joint name="abs_z" type="revolute">
		<origin xyz="0 0.0516374742048976 0" rpy="0 0 0"></origin>
		<parent link="abdomen"></parent>
		<child link="spine"></child>
		<axis xyz="0 1 0"></axis>
		<limit effort="3.1" lower="-1.57079632679" upper="1.57079632679" velocity="7.0"></limit>
	</joint>
	<joint name="bust_y" type="revolute">
		<origin xyz="0 0.07985 0.00279999999999998" rpy="0 0 0"></origin>
		<parent link="spine"></parent>
		<child link="bust_motors"></child>
		<axis xyz="-1 0 0"></axis>
		<limit effort="3.1" lower="-1.16937059884" upper="0.471238898038" velocity="7.0"></limit>
	</joint>
	<joint name="bust_x" type="revolute">
		<origin xyz="0 0 0" rpy="0 0 0"></origin>
		<parent link="bust_motors"></parent>
		<child link="chest"></child>
		<axis xyz="0 0 1"></axis>
		<limit effort="3.1" lower="-0.698131700798" upper="0.698131700798" velocity="7.0"></limit>
	</joint>
	<joint name="head_z" type="revolute">
		<origin xyz="0 0.084 0.00499999999999996" rpy="0 0 0"></origin>
		<parent link="chest"></parent>
		<child link="neck"></child>
		<axis xyz="0 1 0"></axis>
		<limit effort="1.8" lower="-1.57079632679" upper="1.57079632679" velocity="10.0"></limit>
	</joint>
	<joint name="head_y" type="revolute">
		<origin xyz="0 0.0199999999999999 0" rpy="-0.349065850398866 0 0"></origin>
		<parent link="neck"></parent>
		<child link="head"></child>
		<axis xyz="-1 0 0"></axis>
		<limit effort="1.8" lower="-0.785398163397" upper="0.10471975512" velocity="10.0"></limit>
	</joint>
	<joint name="l_shoulder_y" type="revolute">
		<origin xyz="0.0771000000000001 0.0499999999999999 0.00399999999999997" rpy="-1.5707963267949 0 0"></origin>
		<parent link="chest"></parent>
		<child link="l_shoulder"></child>
		<axis xyz="1 0 0"></axis>
		<limit effort="3.1" lower="-2.09439510239" upper="2.70526034059" velocity="7.0"></limit>
	</joint>
	<joint name="l_shoulder_x" type="revolute">
		<origin xyz="0.0284 0 0" rpy="3.14159265358979 0 1.5707963267949"></origin>
		<parent link="l_shoulder"></parent>
		<child link="l_shoulder_motor"></child>
		<axis xyz="0 0 1"></axis>
		<limit effort="3.1" lower="-1.83259571459" upper="1.91986217719" velocity="7.0"></limit>
	</joint>
	<joint name="l_arm_z" type="revolute">
		<origin xyz="0 0.03625 0.0185000000000001" rpy="0 0 0"></origin>
		<parent link="l_shoulder_motor"></parent>
		<child link="l_upper_arm"></child>
		<axis xyz="0 1 0"></axis>
		<limit effort="3.1" lower="-1.83259571459" upper="1.83259571459" velocity="7.0"></limit>
	</joint>
	<joint name="l_elbow_y" type="revolute">
		<origin xyz="0 0.11175 -0.00999999999999998" rpy="0 0 0"></origin>
		<parent link="l_upper_arm"></parent>
		<child link="l_forearm"></child>
		<axis xyz="1 0 0"></axis>
		<limit effort="3.1" lower="-2.58308729295" upper="0.0174532925199" velocity="7.0"></limit>
	</joint>
	<joint name="r_shoulder_y" type="revolute">
		<origin xyz="-0.0770999999999999 0.0500000000000002 0.00400000000000003" rpy="-1.5707963267949 0 0"></origin>
		<parent link="chest"></parent>
		<child link="r_shoulder"></child>
		<axis xyz="-1 0 0"></axis>
		<limit effort="3.1" lower="-2.70526034059" upper="2.09439510239" velocity="7.0"></limit>
	</joint>
	<joint name="r_shoulder_x" type="revolute">
		<origin xyz="-0.0284 0 0" rpy="3.14159265358979 0 -1.5707963267949"></origin>
		<parent link="r_shoulder"></parent>
		<child link="r_shoulder_motor"></child>
		<axis xyz="0 0 -1"></axis>
		<limit effort="3.1" lower="-1.91986217719" upper="1.83259571459" velocity="7.0"></limit>
	</joint>
	<joint name="r_arm_z" type="revolute">
		<origin xyz="0 0.03625 0.0185000000000002" rpy="0 0 0"></origin>
		<parent link="r_shoulder_motor"></parent>
		<child link="r_upper_arm"></child>
		<axis xyz="0 1 0"></axis>
		<limit effort="3.1" lower="-1.83259571459" upper="1.83259571459" velocity="7.0"></limit>
	</joint>
	<joint name="r_elbow_y" type="revolute">
		<origin xyz="0 0.11175 -0.01" rpy="0 0 0"></origin>
		<parent link="r_upper_arm"></parent>
		<child link="r_forearm"></child>
		<axis xyz="-1 0 0"></axis>
		<limit effort="3.1" lower="-0.0174532925199" upper="2.58308729295" velocity="7.0"></limit>
	</joint>
</robot>