<?xml version="1.0"?>
<robot name="armar6">
  <!-- map -->
  <link name="map"/>
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    <child link="Armar6"/>
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    <child link="LidarFront" />
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    <child link="LidarBack" />
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    <child link="ArmL4_Sho3~ArmL4_Sho3_body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="ArmL5_Elb1" type="continuous">
    <parent link="ArmL4_Sho3~ArmL4_Sho3_body" />
    <child link="link0_19" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.05500 0.40900" />
    <axis xyz="1.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_22_19" type="fixed">
    <parent link="link0_19" />
    <child link="Node_ArmL_Elb~ArmL5_Elb1~ArmL5_Elb1_body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="ArmL6_Elb2" type="continuous">
    <parent link="Node_ArmL_Elb~ArmL5_Elb1~ArmL5_Elb1_body" />
    <child link="link0_21" />
    <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="jointfix_21_21" type="fixed">
    <parent link="link0_21" />
    <child link="ArmL6_Elb2~ArmL6_Elb2_body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="ArmL7_Wri1" type="continuous">
    <parent link="ArmL6_Elb2~ArmL6_Elb2_body" />
    <child link="link0_23" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.36400" />
    <axis xyz="0.00000 -1.00000 0.00000" />
  </joint>
  <joint name="jointfix_20_23" type="fixed">
    <parent link="link0_23" />
    <child link="Node_ArmL_Wri~ArmL7_Wri1~ArmL7_Wri1_body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="ArmL8_Wri2" type="continuous">
    <parent link="Node_ArmL_Wri~ArmL7_Wri1~ArmL7_Wri1_body" />
    <child link="link0_25" />
    <origin rpy="0.00000 -0.00000 1.57080" xyz="0.00000 0.00000 0.00000" />
    <axis xyz="0.00000 -1.00000 0.00000" />
  </joint>
  <joint name="jointfix_19_25" type="fixed">
    <parent link="link0_25" />
    <child link="ArmL8_Wri2~ArmL8_Wri2_body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_18_24" type="fixed">
    <parent link="ArmL8_Wri2~ArmL8_Wri2_body" />
    <child link="HandL_Base~Hand L Root" />
    <origin rpy="0.00000 -1.57080 4.71239" xyz="0.00000 0.00000 0.14000" />
  </joint>
  <joint name="jointfix_0_26" type="fixed">
    <parent link="HandL_Base~Hand L Root" />
    <child link="Hand L Col" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_17_26" type="fixed">
    <parent link="HandL_Base~Hand L Root" />
    <child link="Hand L Palm" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="Index_L_1_Joint" type="continuous">
    <parent link="Hand L Palm" />
    <child link="link0_30" />
    <origin rpy="-1.57081 1.48348 -0.00001" xyz="0.14531 -0.00000 0.03922" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_3_30" type="fixed">
    <parent link="link0_30" />
    <child link="Index_L_1_Joint~Index L 1 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="Index_L_2_Joint" type="continuous">
    <parent link="Index_L_1_Joint~Index L 1 Body" />
    <child link="link0_32" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.05595 -0.00000" />
    <axis xyz="1.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_2_32" type="fixed">
    <parent link="link0_32" />
    <child link="Index_L_2_Joint~Index L 2 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="Index_L_3_Joint" type="continuous">
    <parent link="Index_L_2_Joint~Index L 2 Body" />
    <child link="link0_34" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.03197 -0.00000" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_1_34" type="fixed">
    <parent link="link0_34" />
    <child link="Index_L_3_Joint~Index L 3 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="LeftHandFingers" type="continuous">
    <parent link="Hand L Palm" />
    <child link="link0_36" />
    <origin rpy="-1.57080 1.16969 0.00000" xyz="0.13032 0.00000 0.05530" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_4_36" type="fixed">
    <parent link="link0_36" />
    <child link="LeftHandFingers" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="LeftHandThumb" type="continuous">
    <parent link="Hand L Palm" />
    <child link="link0_38" />
    <origin rpy="2.91903 -1.18743 -2.93505" xyz="0.08111 -0.04691 -0.03950" />
    <axis xyz="1.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_5_38" type="fixed">
    <parent link="link0_38" />
    <child link="LeftHandThumb" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="Middle_L_1_Joint" type="continuous">
    <parent link="Hand L Palm" />
    <child link="link0_40" />
    <origin rpy="0.00000 1.57080 -4.71239" xyz="0.15172 0.00000 0.00750" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_8_40" type="fixed">
    <parent link="link0_40" />
    <child link="Middle_L_1_Joint~Middle L 1 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="Middle_L_2_Joint" type="continuous">
    <parent link="Middle_L_1_Joint~Middle L 1 Body" />
    <child link="link0_42" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.06000 0.00000" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_7_42" type="fixed">
    <parent link="link0_42" />
    <child link="Middle_L_2_Joint~Middle L 2 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="Middle_L_3_Joint" type="continuous">
    <parent link="Middle_L_2_Joint~Middle L 2 Body" />
    <child link="link0_44" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.03900 0.00000" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_6_44" type="fixed">
    <parent link="link0_44" />
    <child link="Middle_L_3_Joint~Middle L 3 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="Pinky_L_1_Joint" type="continuous">
    <parent link="Hand L Palm" />
    <child link="link0_46" />
    <origin rpy="1.57080 1.16969 3.14159" xyz="0.13032 -0.00000 -0.05530" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_11_46" type="fixed">
    <parent link="link0_46" />
    <child link="Pinky_L_1_Joint~Pinky L 1 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="Pinky_L_2_Joint" type="continuous">
    <parent link="Pinky_L_1_Joint~Pinky L 1 Body" />
    <child link="link0_48" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="-0.00000 -0.04610 0.00000" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_10_48" type="fixed">
    <parent link="link0_48" />
    <child link="Pinky_L_2_Joint~Pinky L 2 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="Pinky_L_3_Joint" type="continuous">
    <parent link="Pinky_L_2_Joint~Pinky L 2 Body" />
    <child link="link0_50" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="-0.00000 -0.02706 0.00000" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_9_50" type="fixed">
    <parent link="link0_50" />
    <child link="Pinky_L_3_Joint~Pinky L 3 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="Ring_L_1_Joint" type="continuous">
    <parent link="Hand L Palm" />
    <child link="link0_52" />
    <origin rpy="1.57080 1.39616 3.14159" xyz="0.14652 0.00000 -0.02630" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_14_52" type="fixed">
    <parent link="link0_52" />
    <child link="Ring_L_1_Joint~Ring L 1 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="Ring_L_2_Joint" type="continuous">
    <parent link="Ring_L_1_Joint~Ring L 1 Body" />
    <child link="link0_54" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.05506 0.00000" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_13_54" type="fixed">
    <parent link="link0_54" />
    <child link="Ring_L_2_Joint~Ring L 2 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="Ring_L_3_Joint" type="continuous">
    <parent link="Ring_L_2_Joint~Ring L 2 Body" />
    <child link="link0_56" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.03704 0.00000" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_12_56" type="fixed">
    <parent link="link0_56" />
    <child link="Ring_L_3_Joint~Ring L 3 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="Thumb_L_1_Joint" type="continuous">
    <parent link="Hand L Palm" />
    <child link="link0_58" />
    <origin rpy="-0.22370 -1.18631 0.20756" xyz="0.08111 -0.04691 0.03950" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_16_58" type="fixed">
    <parent link="link0_58" />
    <child link="Thumb_L_1_Joint~Thumb L 1 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="Thumb_L_2_Joint" type="continuous">
    <parent link="Thumb_L_1_Joint~Thumb L 1 Body" />
    <child link="link0_60" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00002 -0.04408 -0.00005" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_15_60" type="fixed">
    <parent link="link0_60" />
    <child link="Thumb_L_2_Joint~Thumb L 2 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="jointfix_55_8" type="fixed">
    <parent link="CenterArms" />
    <child link="Node_ArmR_Cla" />
    <origin rpy="0.00000 -0.00000 -3.14159" xyz="0.00000 -0.09000 0.00000" />
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  <joint name="ArmR1_Cla1" type="continuous">
    <parent link="Node_ArmR_Cla" />
    <child link="link0_63" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
    <axis xyz="0.00000 0.00000 1.00000" />
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  <joint name="jointfix_54_63" type="fixed">
    <parent link="link0_63" />
    <child link="ArmR1_Cla1~ArmR1_Cla1_body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="ArmR2_Sho1" type="continuous">
    <parent link="ArmR1_Cla1~ArmR1_Cla1_body" />
    <child link="link0_65" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.28978 0.07765" />
    <axis xyz="0.00000 0.96593 0.25882" />
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  <joint name="jointfix_53_65" type="fixed">
    <parent link="link0_65" />
    <child link="Node_ArmR_Sho~ArmR2_Sho1~ArmR2_Sho1_body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="ArmR3_Sho2" type="continuous">
    <parent link="Node_ArmR_Sho~ArmR2_Sho1~ArmR2_Sho1_body" />
    <child link="link0_67" />
    <origin rpy="-1.57080 -0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_52_67" type="fixed">
    <parent link="link0_67" />
    <child link="Node_ArmR_Sho_B~ArmR3_Sho2~ArmR3_Sho2_body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="ArmR4_Sho3" type="continuous">
    <parent link="Node_ArmR_Sho_B~ArmR3_Sho2~ArmR3_Sho2_body" />
    <child link="link0_69" />
    <origin rpy="0.00000 -1.57080 -1.57080" xyz="0.00000 0.00000 0.00000" />
    <axis xyz="0.00000 0.00000 1.00000" />
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  <joint name="jointfix_51_69" type="fixed">
    <parent link="link0_69" />
    <child link="ArmR4_Sho3~ArmR4_Sho3_body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="ArmR5_Elb1" type="continuous">
    <parent link="ArmR4_Sho3~ArmR4_Sho3_body" />
    <child link="link0_71" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.05500 0.40900" />
    <axis xyz="1.00000 -0.00000 -0.00000" />
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  <joint name="jointfix_50_71" type="fixed">
    <parent link="link0_71" />
    <child link="Node_ArmR_Elb~ArmR5_Elb1~ArmR5_Elb1_body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="ArmR6_Elb2" type="continuous">
    <parent link="Node_ArmR_Elb~ArmR5_Elb1~ArmR5_Elb1_body" />
    <child link="link0_73" />
    <origin rpy="-0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
    <axis xyz="0.00000 0.00000 1.00000" />
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  <joint name="jointfix_49_73" type="fixed">
    <parent link="link0_73" />
    <child link="ArmR6_Elb2~ArmR6_Elb2_body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="ArmR7_Wri1" type="continuous">
    <parent link="ArmR6_Elb2~ArmR6_Elb2_body" />
    <child link="link0_75" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.36400" />
    <axis xyz="0.00000 -1.00000 -0.00000" />
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  <joint name="jointfix_48_75" type="fixed">
    <parent link="link0_75" />
    <child link="Node_ArmR_Wri~ArmR7_Wri1~ArmR7_Wri1_body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="ArmR8_Wri2" type="continuous">
    <parent link="Node_ArmR_Wri~ArmR7_Wri1~ArmR7_Wri1_body" />
    <child link="link0_77" />
    <origin rpy="0.00000 -0.00000 1.57080" xyz="0.00000 0.00000 0.00000" />
    <axis xyz="0.00000 -1.00000 0.00000" />
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  <joint name="jointfix_47_77" type="fixed">
    <parent link="link0_77" />
    <child link="ArmR8_Wri2~ArmR8_Wri2_body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="jointfix_46_76" type="fixed">
    <parent link="ArmR8_Wri2~ArmR8_Wri2_body" />
    <child link="HandR_Base~Hand R Root" />
    <origin rpy="0.00000 -1.57080 4.71239" xyz="0.00000 0.00000 0.14000" />
  </joint>
  <joint name="jointfix_28_78" type="fixed">
    <parent link="HandR_Base~Hand R Root" />
    <child link="Hand R Col" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="jointfix_45_78" type="fixed">
    <parent link="HandR_Base~Hand R Root" />
    <child link="Hand R Palm" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="Index_R_1_Joint" type="continuous">
    <parent link="Hand R Palm" />
    <child link="link0_82" />
    <origin rpy="1.57081 1.48348 -3.14158" xyz="0.14531 0.00000 -0.03922" />
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  <joint name="jointfix_31_82" type="fixed">
    <parent link="link0_82" />
    <child link="Index_R_1_Joint~Index R 1 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="Index_R_2_Joint" type="continuous">
    <parent link="Index_R_1_Joint~Index R 1 Body" />
    <child link="link0_84" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.05595 -0.00000" />
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  <joint name="jointfix_30_84" type="fixed">
    <parent link="link0_84" />
    <child link="Index_R_2_Joint~Index R 2 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="Index_R_3_Joint" type="continuous">
    <parent link="Index_R_2_Joint~Index R 2 Body" />
    <child link="link0_86" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.03197 -0.00000" />
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  <joint name="jointfix_29_86" type="fixed">
    <parent link="link0_86" />
    <child link="Index_R_3_Joint~Index R 3 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="Middle_R_1_Joint" type="continuous">
    <parent link="Hand R Palm" />
    <child link="link0_88" />
    <origin rpy="0.00000 1.57080 -4.71239" xyz="0.15172 0.00000 -0.00750" />
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  <joint name="jointfix_34_88" type="fixed">
    <parent link="link0_88" />
    <child link="Middle_R_1_Joint~Middle R 1 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="Middle_R_2_Joint" type="continuous">
    <parent link="Middle_R_1_Joint~Middle R 1 Body" />
    <child link="link0_90" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.06000 0.00000" />
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  <joint name="jointfix_33_90" type="fixed">
    <parent link="link0_90" />
    <child link="Middle_R_2_Joint~Middle R 2 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="Middle_R_3_Joint" type="continuous">
    <parent link="Middle_R_2_Joint~Middle R 2 Body" />
    <child link="link0_92" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.03900 0.00000" />
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  <joint name="jointfix_32_92" type="fixed">
    <parent link="link0_92" />
    <child link="Middle_R_3_Joint~Middle R 3 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="Pinky_R_1_Joint" type="continuous">
    <parent link="Hand R Palm" />
    <child link="link0_94" />
    <origin rpy="-1.57080 1.16969 0.00000" xyz="0.13032 0.00000 0.05530" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_37_94" type="fixed">
    <parent link="link0_94" />
    <child link="Pinky_R_1_Joint~Pinky R 1 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
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  <joint name="Pinky_R_2_Joint" type="continuous">
    <parent link="Pinky_R_1_Joint~Pinky R 1 Body" />
    <child link="link0_96" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.04610 0.00000" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_36_96" type="fixed">
    <parent link="link0_96" />
    <child link="Pinky_R_2_Joint~Pinky R 2 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="Pinky_R_3_Joint" type="continuous">
    <parent link="Pinky_R_2_Joint~Pinky R 2 Body" />
    <child link="link0_98" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.02706 -0.00000" />
    <axis xyz="1.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_35_98" type="fixed">
    <parent link="link0_98" />
    <child link="Pinky_R_3_Joint~Pinky R 3 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="RightHandFingers" type="continuous">
    <parent link="Hand R Palm" />
    <child link="link0_100" />
    <origin rpy="-1.57080 1.16969 0.00000" xyz="0.13032 0.00000 0.05530" />
    <axis xyz="1.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_38_100" type="fixed">
    <parent link="link0_100" />
    <child link="RightHandFingers" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="RightHandThumb" type="continuous">
    <parent link="Hand R Palm" />
    <child link="link0_102" />
    <origin rpy="2.91903 -1.18743 -2.93505" xyz="0.08111 -0.04691 -0.03950" />
    <axis xyz="1.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_39_102" type="fixed">
    <parent link="link0_102" />
    <child link="RightHandThumb" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="Ring_R_1_Joint" type="continuous">
    <parent link="Hand R Palm" />
    <child link="link0_104" />
    <origin rpy="-1.57080 1.39616 0.00000" xyz="0.14652 0.00000 0.02630" />
    <axis xyz="1.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_42_104" type="fixed">
    <parent link="link0_104" />
    <child link="Ring_R_1_Joint~Ring R 1 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="Ring_R_2_Joint" type="continuous">
    <parent link="Ring_R_1_Joint~Ring R 1 Body" />
    <child link="link0_106" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.05506 0.00000" />
    <axis xyz="1.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_41_106" type="fixed">
    <parent link="link0_106" />
    <child link="Ring_R_2_Joint~Ring R 2 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="Ring_R_3_Joint" type="continuous">
    <parent link="Ring_R_2_Joint~Ring R 2 Body" />
    <child link="link0_108" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="-0.00000 -0.03704 0.00000" />
    <axis xyz="1.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_40_108" type="fixed">
    <parent link="link0_108" />
    <child link="Ring_R_3_Joint~Ring R 3 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="Thumb_R_1_Joint" type="continuous">
    <parent link="Hand R Palm" />
    <child link="link0_110" />
    <origin rpy="2.91903 -1.18743 -2.93505" xyz="0.08111 -0.04691 -0.03950" />
    <axis xyz="1.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_44_110" type="fixed">
    <parent link="link0_110" />
    <child link="Thumb_R_1_Joint~Thumb R 1 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="Thumb_R_2_Joint" type="continuous">
    <parent link="Thumb_R_1_Joint~Thumb R 1 Body" />
    <child link="link0_112" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="-0.00002 -0.04408 -0.00005" />
    <axis xyz="1.00000 0.00000 0.00000" />
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  <joint name="jointfix_43_112" type="fixed">
    <parent link="link0_112" />
    <child link="Thumb_R_2_Joint~Thumb R 2 Body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_63_8" type="fixed">
    <parent link="CenterArms" />
    <child link="Head Base" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.26850" />
  </joint>
  <joint name="Neck_1_Yaw" type="continuous">
    <parent link="Head Base" />
    <child link="link0_115" />
    <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="jointfix_62_115" type="fixed">
    <parent link="link0_115" />
    <child link="Neck_1_Yaw~Neck_1_Yaw_body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="Neck_2_Pitch" type="continuous">
    <parent link="Neck_1_Yaw~Neck_1_Yaw_body" />
    <child link="link0_117" />
    <origin rpy="1.57080 -0.00000 1.57080" xyz="0.00000 0.00000 0.00000" />
    <axis xyz="1.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_61_117" type="fixed">
    <parent link="link0_117" />
    <child link="Neck_2_Pitch~Neck_2_Pitch_body" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_57_116" type="fixed">
    <parent link="Neck_2_Pitch~Neck_2_Pitch_body" />
    <child link="DepthCamera" />
    <origin rpy="0.00000 0.00000 -3.14159" xyz="0.03300 0.24780 0.19300" />
  </joint>
  <joint name="VirtualCentralGazeDepthCamera" type="prismatic">
    <parent link="DepthCamera" />
    <child link="link0_120" />
    <limit effort="1000.0" lower="-0.50000" upper="0.50000" velocity="0.5" />
    <origin rpy="0.00000 -1.57080 3.14159" xyz="-0.00000 0.00000 0.00000" />
    <axis xyz="1.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_56_120" type="fixed">
    <parent link="link0_120" />
    <child link="VirtualCentralGazeDepthCamera" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_58_116" type="fixed">
    <parent link="Neck_2_Pitch~Neck_2_Pitch_body" />
    <child link="FleaCamerasCenter" />
    <origin rpy="0.00000 0.00000 -3.14159" xyz="0.00000 0.17300 0.12300" />
  </joint>
  <joint name="jointfix_60_116" type="fixed">
    <parent link="Neck_2_Pitch~Neck_2_Pitch_body" />
    <child link="Roboception" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.17300 0.16050" />
  </joint>
  <joint name="VirtualCentralGaze" type="prismatic">
    <parent link="Roboception" />
    <child link="link0_124" />
    <limit effort="1000.0" lower="-0.50000" upper="0.50000" velocity="0.5" />
    <origin rpy="0.00000 -1.57080 3.14159" xyz="0.00000 0.00000 0.00000" />
    <axis xyz="1.00000 0.00000 0.00000" />
  </joint>
  <joint name="jointfix_59_124" type="fixed">
    <parent link="link0_124" />
    <child link="VirtualCentralGaze" />
    <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
  </joint>
</robot>