<?xml version="1.0"?>
<!-- created with static scene to urdf converter -->
  <robot name="Clarice">
    <link name="Hip">
        <visual name="Hip">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
    </link>
    <link name="RThigh">
        <visual name="RThigh">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="RThigh">
         <origin xyz="0.000000 -0.000000 -0.242500" rpy="3.141593 0.000000 0.000000"/>
            <geometry>
                <cylinder radius="0.01" length="0.485000"/>
            </geometry>
        </visual>
    </link>
    <joint name="RThigh_joint" type="floating">
        <origin xyz="0.096000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="Hip"/>
        <child link="RThigh"/>
    </joint>
    <link name="RShin">
        <visual name="RShin">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="RShin">
         <origin xyz="0.000000 -0.000000 -0.206000" rpy="3.141593 0.000000 0.000000"/>
            <geometry>
                <cylinder radius="0.01" length="0.412000"/>
            </geometry>
        </visual>
    </link>
    <joint name="RShin_joint" type="floating">
        <origin xyz="0.000000 -0.000000 -0.485000" rpy="-1.507 0 0"/>
        <parent link="RThigh"/>
        <child link="RShin"/>
    </joint>
    <link name="RFoot">
        <visual name="RFoot">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="RFoot">
         <origin xyz="0.000000 -0.071500 -0.031000" rpy="1.979900 0.000000 0.000000"/>
            <geometry>
                <cylinder radius="0.01" length="0.155862"/>
            </geometry>
        </visual>
    </link>
    <joint name="RFoot_joint" type="floating">
        <origin xyz="0.000000 -0.000000 -0.412000" rpy="-1.507 0 0"/>
        <parent link="RShin"/>
        <child link="RFoot"/>
    </joint>
    <link name="RToe">
        <visual name="RToe">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
    </link>
    <joint name="RToe_joint" type="floating">
        <origin xyz="0.000000 -0.143000 -0.062000" rpy="-1.507 0 0"/>
        <parent link="RFoot"/>
        <child link="RToe"/>
    </joint>
    <link name="LThigh">
        <visual name="LThigh">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="LThigh">
         <origin xyz="0.000000 -0.000000 -0.242500" rpy="3.141593 0.000000 0.000000"/>
            <geometry>
                <cylinder radius="0.01" length="0.485000"/>
            </geometry>
        </visual>
    </link>
    <joint name="LThigh_joint" type="floating">
        <origin xyz="-0.096000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="Hip"/>
        <child link="LThigh"/>
    </joint>
    <link name="LShin">
        <visual name="LShin">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="LShin">
         <origin xyz="0.000000 -0.000000 -0.206000" rpy="3.141593 0.000000 0.000000"/>
            <geometry>
                <cylinder radius="0.01" length="0.412000"/>
            </geometry>
        </visual>
    </link>
    <joint name="LShin_joint" type="floating">
        <origin xyz="0.000000 -0.000000 -0.485000" rpy="-1.507 0 0"/>
        <parent link="LThigh"/>
        <child link="LShin"/>
    </joint>
    <link name="LFoot">
        <visual name="LFoot">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="LFoot">
         <origin xyz="0.000000 -0.071500 -0.031000" rpy="1.979900 0.000000 0.000000"/>
            <geometry>
                <cylinder radius="0.01" length="0.155862"/>
            </geometry>
        </visual>
    </link>
    <joint name="LFoot_joint" type="floating">
        <origin xyz="0.000000 -0.000000 -0.412000" rpy="-1.507 0 0"/>
        <parent link="LShin"/>
        <child link="LFoot"/>
    </joint>
    <link name="LToe">
        <visual name="LToe">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
    </link>
    <joint name="LToe_joint" type="floating">
        <origin xyz="0.000000 -0.143000 -0.062000" rpy="-1.507 0 0"/>
        <parent link="LFoot"/>
        <child link="LToe"/>
    </joint>
    <link name="Ab">
        <visual name="Ab">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="Ab">
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            <geometry>
                <cylinder radius="0.01" length="0.153000"/>
            </geometry>
        </visual>
    </link>
    <joint name="Ab_joint" type="floating">
        <origin xyz="0.000000 -0.000000 0.078000" rpy="-1.507 0 0"/>
        <parent link="Hip"/>
        <child link="Ab"/>
    </joint>
    <link name="Chest">
        <visual name="Chest">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
    </link>
    <joint name="Chest_joint" type="floating">
        <origin xyz="0.000000 -0.000000 0.153000" rpy="-1.507 0 0"/>
        <parent link="Ab"/>
        <child link="Chest"/>
    </joint>
    <link name="RShoulder">
        <visual name="RShoulder">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="RShoulder">
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            <geometry>
                <cylinder radius="0.01" length="0.115000"/>
            </geometry>
        </visual>
    </link>
    <joint name="RShoulder_joint" type="floating">
        <origin xyz="0.039000 -0.001000 0.134000" rpy="-1.507 0 0"/>
        <parent link="Chest"/>
        <child link="RShoulder"/>
    </joint>
    <link name="RUArm">
        <visual name="RUArm">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="RUArm">
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            <geometry>
                <cylinder radius="0.01" length="0.266000"/>
            </geometry>
        </visual>
    </link>
    <joint name="RUArm_joint" type="floating">
        <origin xyz="0.115000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="RShoulder"/>
        <child link="RUArm"/>
    </joint>
    <link name="RFArm">
        <visual name="RFArm">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="RFArm">
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            <geometry>
                <cylinder radius="0.01" length="0.233000"/>
            </geometry>
        </visual>
    </link>
    <joint name="RFArm_joint" type="floating">
        <origin xyz="0.266000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="RUArm"/>
        <child link="RFArm"/>
    </joint>
    <link name="RHand">
        <visual name="RHand">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
    </link>
    <joint name="RHand_joint" type="floating">
        <origin xyz="0.233000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="RFArm"/>
        <child link="RHand"/>
    </joint>
    <link name="RThumb1">
        <visual name="RThumb1">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="RThumb1">
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            <geometry>
                <cylinder radius="0.01" length="0.029000"/>
            </geometry>
        </visual>
    </link>
    <joint name="RThumb1_joint" type="floating">
        <origin xyz="0.014000 -0.048000 -0.024000" rpy="-1.507 0 0"/>
        <parent link="RHand"/>
        <child link="RThumb1"/>
    </joint>
    <link name="RThumb2">
        <visual name="RThumb2">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="RThumb2">
         <origin xyz="0.014500 -0.000000 0.000000" rpy="0.000000 1.570796 0.000000"/>
            <geometry>
                <cylinder radius="0.01" length="0.029000"/>
            </geometry>
        </visual>
    </link>
    <joint name="RThumb2_joint" type="floating">
        <origin xyz="0.029000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="RThumb1"/>
        <child link="RThumb2"/>
    </joint>
    <link name="RThumb3">
        <visual name="RThumb3">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
    </link>
    <joint name="RThumb3_joint" type="floating">
        <origin xyz="0.029000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="RThumb2"/>
        <child link="RThumb3"/>
    </joint>
    <link name="RRing1">
        <visual name="RRing1">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="RRing1">
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            <geometry>
                <cylinder radius="0.01" length="0.048000"/>
            </geometry>
        </visual>
    </link>
    <joint name="RRing1_joint" type="floating">
        <origin xyz="0.081000 0.011000 0.000000" rpy="-1.507 0 0"/>
        <parent link="RHand"/>
        <child link="RRing1"/>
    </joint>
    <link name="RRing2">
        <visual name="RRing2">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="RRing2">
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            <geometry>
                <cylinder radius="0.01" length="0.024000"/>
            </geometry>
        </visual>
    </link>
    <joint name="RRing2_joint" type="floating">
        <origin xyz="0.048000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="RRing1"/>
        <child link="RRing2"/>
    </joint>
    <link name="RRing3">
        <visual name="RRing3">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
    </link>
    <joint name="RRing3_joint" type="floating">
        <origin xyz="0.024000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="RRing2"/>
        <child link="RRing3"/>
    </joint>
    <link name="RMiddle1">
        <visual name="RMiddle1">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="RMiddle1">
         <origin xyz="0.026500 -0.000000 0.000000" rpy="0.000000 1.570796 0.000000"/>
            <geometry>
                <cylinder radius="0.01" length="0.053000"/>
            </geometry>
        </visual>
    </link>
    <joint name="RMiddle1_joint" type="floating">
        <origin xyz="0.086000 -0.011000 0.000000" rpy="-1.507 0 0"/>
        <parent link="RHand"/>
        <child link="RMiddle1"/>
    </joint>
    <link name="RMiddle2">
        <visual name="RMiddle2">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="RMiddle2">
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            <geometry>
                <cylinder radius="0.01" length="0.029000"/>
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        </visual>
    </link>
    <joint name="RMiddle2_joint" type="floating">
        <origin xyz="0.053000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="RMiddle1"/>
        <child link="RMiddle2"/>
    </joint>
    <link name="RMiddle3">
        <visual name="RMiddle3">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
    </link>
    <joint name="RMiddle3_joint" type="floating">
        <origin xyz="0.029000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="RMiddle2"/>
        <child link="RMiddle3"/>
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    <link name="RIndex1">
        <visual name="RIndex1">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="RIndex1">
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            <geometry>
                <cylinder radius="0.01" length="0.048000"/>
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        </visual>
    </link>
    <joint name="RIndex1_joint" type="floating">
        <origin xyz="0.086000 -0.033000 0.000000" rpy="-1.507 0 0"/>
        <parent link="RHand"/>
        <child link="RIndex1"/>
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    <link name="RIndex2">
        <visual name="RIndex2">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="RIndex2">
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            <geometry>
                <cylinder radius="0.01" length="0.024000"/>
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        </visual>
    </link>
    <joint name="RIndex2_joint" type="floating">
        <origin xyz="0.048000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="RIndex1"/>
        <child link="RIndex2"/>
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    <link name="RIndex3">
        <visual name="RIndex3">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
    </link>
    <joint name="RIndex3_joint" type="floating">
        <origin xyz="0.024000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="RIndex2"/>
        <child link="RIndex3"/>
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    <link name="RPinky1">
        <visual name="RPinky1">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="RPinky1">
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            <geometry>
                <cylinder radius="0.01" length="0.038000"/>
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        </visual>
    </link>
    <joint name="RPinky1_joint" type="floating">
        <origin xyz="0.076000 0.033000 0.000000" rpy="-1.507 0 0"/>
        <parent link="RHand"/>
        <child link="RPinky1"/>
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    <link name="RPinky2">
        <visual name="RPinky2">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
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        </visual>
        <visual name="RPinky2">
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            <geometry>
                <cylinder radius="0.01" length="0.019000"/>
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        </visual>
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    <joint name="RPinky2_joint" type="floating">
        <origin xyz="0.038000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="RPinky1"/>
        <child link="RPinky2"/>
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    <link name="RPinky3">
        <visual name="RPinky3">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
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        </visual>
    </link>
    <joint name="RPinky3_joint" type="floating">
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        <parent link="RPinky2"/>
        <child link="RPinky3"/>
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    <link name="LShoulder">
        <visual name="LShoulder">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="LShoulder">
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            <geometry>
                <cylinder radius="0.01" length="0.115000"/>
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        </visual>
    </link>
    <joint name="LShoulder_joint" type="floating">
        <origin xyz="-0.038000 -0.001000 0.134000" rpy="-1.507 0 0"/>
        <parent link="Chest"/>
        <child link="LShoulder"/>
    </joint>
    <link name="LUArm">
        <visual name="LUArm">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="LUArm">
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            <geometry>
                <cylinder radius="0.01" length="0.266000"/>
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        </visual>
    </link>
    <joint name="LUArm_joint" type="floating">
        <origin xyz="-0.115000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="LShoulder"/>
        <child link="LUArm"/>
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    <link name="LFArm">
        <visual name="LFArm">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
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        </visual>
        <visual name="LFArm">
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            <geometry>
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        </visual>
    </link>
    <joint name="LFArm_joint" type="floating">
        <origin xyz="-0.266000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="LUArm"/>
        <child link="LFArm"/>
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    <link name="LHand">
        <visual name="LHand">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
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        </visual>
    </link>
    <joint name="LHand_joint" type="floating">
        <origin xyz="-0.233000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="LFArm"/>
        <child link="LHand"/>
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    <link name="LRing1">
        <visual name="LRing1">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
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        <visual name="LRing1">
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            <geometry>
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        </visual>
    </link>
    <joint name="LRing1_joint" type="floating">
        <origin xyz="-0.081000 0.011000 0.000000" rpy="-1.507 0 0"/>
        <parent link="LHand"/>
        <child link="LRing1"/>
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    <link name="LRing2">
        <visual name="LRing2">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
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        </visual>
        <visual name="LRing2">
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            <geometry>
                <cylinder radius="0.01" length="0.024000"/>
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        </visual>
    </link>
    <joint name="LRing2_joint" type="floating">
        <origin xyz="-0.048000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="LRing1"/>
        <child link="LRing2"/>
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    <link name="LRing3">
        <visual name="LRing3">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
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        </visual>
    </link>
    <joint name="LRing3_joint" type="floating">
        <origin xyz="-0.024000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="LRing2"/>
        <child link="LRing3"/>
    </joint>
    <link name="LIndex1">
        <visual name="LIndex1">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
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        </visual>
        <visual name="LIndex1">
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            <geometry>
                <cylinder radius="0.01" length="0.048000"/>
            </geometry>
        </visual>
    </link>
    <joint name="LIndex1_joint" type="floating">
        <origin xyz="-0.086000 -0.033000 0.000000" rpy="-1.507 0 0"/>
        <parent link="LHand"/>
        <child link="LIndex1"/>
    </joint>
    <link name="LIndex2">
        <visual name="LIndex2">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="LIndex2">
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            <geometry>
                <cylinder radius="0.01" length="0.024000"/>
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        </visual>
    </link>
    <joint name="LIndex2_joint" type="floating">
        <origin xyz="-0.048000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="LIndex1"/>
        <child link="LIndex2"/>
    </joint>
    <link name="LIndex3">
        <visual name="LIndex3">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
    </link>
    <joint name="LIndex3_joint" type="floating">
        <origin xyz="-0.024000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="LIndex2"/>
        <child link="LIndex3"/>
    </joint>
    <link name="LMiddle1">
        <visual name="LMiddle1">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="LMiddle1">
         <origin xyz="-0.026500 -0.000000 0.000000" rpy="0.000000 -1.570796 0.000000"/>
            <geometry>
                <cylinder radius="0.01" length="0.053000"/>
            </geometry>
        </visual>
    </link>
    <joint name="LMiddle1_joint" type="floating">
        <origin xyz="-0.086000 -0.011000 0.000000" rpy="-1.507 0 0"/>
        <parent link="LHand"/>
        <child link="LMiddle1"/>
    </joint>
    <link name="LMiddle2">
        <visual name="LMiddle2">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="LMiddle2">
         <origin xyz="-0.014500 -0.000000 0.000000" rpy="0.000000 -1.570796 0.000000"/>
            <geometry>
                <cylinder radius="0.01" length="0.029000"/>
            </geometry>
        </visual>
    </link>
    <joint name="LMiddle2_joint" type="floating">
        <origin xyz="-0.053000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="LMiddle1"/>
        <child link="LMiddle2"/>
    </joint>
    <link name="LMiddle3">
        <visual name="LMiddle3">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
    </link>
    <joint name="LMiddle3_joint" type="floating">
        <origin xyz="-0.029000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="LMiddle2"/>
        <child link="LMiddle3"/>
    </joint>
    <link name="LThumb1">
        <visual name="LThumb1">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="LThumb1">
         <origin xyz="-0.014500 -0.000000 0.000000" rpy="0.000000 -1.570796 0.000000"/>
            <geometry>
                <cylinder radius="0.01" length="0.029000"/>
            </geometry>
        </visual>
    </link>
    <joint name="LThumb1_joint" type="floating">
        <origin xyz="-0.014000 -0.048000 -0.024000" rpy="-1.507 0 0"/>
        <parent link="LHand"/>
        <child link="LThumb1"/>
    </joint>
    <link name="LThumb2">
        <visual name="LThumb2">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="LThumb2">
         <origin xyz="-0.014500 -0.000000 0.000000" rpy="0.000000 -1.570796 0.000000"/>
            <geometry>
                <cylinder radius="0.01" length="0.029000"/>
            </geometry>
        </visual>
    </link>
    <joint name="LThumb2_joint" type="floating">
        <origin xyz="-0.029000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="LThumb1"/>
        <child link="LThumb2"/>
    </joint>
    <link name="LThumb3">
        <visual name="LThumb3">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
    </link>
    <joint name="LThumb3_joint" type="floating">
        <origin xyz="-0.029000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="LThumb2"/>
        <child link="LThumb3"/>
    </joint>
    <link name="LPinky1">
        <visual name="LPinky1">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="LPinky1">
         <origin xyz="-0.019000 -0.000000 0.000000" rpy="0.000000 -1.570796 0.000000"/>
            <geometry>
                <cylinder radius="0.01" length="0.038000"/>
            </geometry>
        </visual>
    </link>
    <joint name="LPinky1_joint" type="floating">
        <origin xyz="-0.076000 0.033000 0.000000" rpy="-1.507 0 0"/>
        <parent link="LHand"/>
        <child link="LPinky1"/>
    </joint>
    <link name="LPinky2">
        <visual name="LPinky2">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="LPinky2">
         <origin xyz="-0.009500 -0.000000 0.000000" rpy="0.000000 -1.570796 0.000000"/>
            <geometry>
                <cylinder radius="0.01" length="0.019000"/>
            </geometry>
        </visual>
    </link>
    <joint name="LPinky2_joint" type="floating">
        <origin xyz="-0.038000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="LPinky1"/>
        <child link="LPinky2"/>
    </joint>
    <link name="LPinky3">
        <visual name="LPinky3">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
    </link>
    <joint name="LPinky3_joint" type="floating">
        <origin xyz="-0.019000 -0.000000 0.000000" rpy="-1.507 0 0"/>
        <parent link="LPinky2"/>
        <child link="LPinky3"/>
    </joint>
    <link name="Neck">
        <visual name="Neck">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
        <visual name="Neck">
         <origin xyz="0.000000 -0.009500 0.074000" rpy="0.127680 0.000000 0.000000"/>
            <geometry>
                <cylinder radius="0.01" length="0.149215"/>
            </geometry>
        </visual>
    </link>
    <joint name="Neck_joint" type="floating">
        <origin xyz="0.000000 -0.000000 0.172000" rpy="-1.507 0 0"/>
        <parent link="Chest"/>
        <child link="Neck"/>
    </joint>
    <link name="Head">
        <visual name="Head">
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <sphere radius="0.05"/>
            </geometry>
        </visual>
    </link>
    <joint name="Head_joint" type="floating">
        <origin xyz="0.000000 -0.019000 0.148000" rpy="-1.507 0 0"/>
        <parent link="Neck"/>
        <child link="Head"/>
    </joint>
  </robot>
