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structure.xml
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structure.xml
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<Link> Base
<Joint type="None">
<BaseFrame>
<Origin> 0 0 0 </Origin>
<Orient> 1 0 0
0 1 0
0 0 1 </Orient>
</BaseFrame>
</Joint>
<Children>
<Link> CHEST
<Joint type="None">
<BaseFrame>
<Origin> 0 0 0.5 </Origin>
<Orient> 1 0 0
0 1 0
0 0 1 </Orient>
</BaseFrame>
</Joint>
<Mass> 3.26 </Mass>
<oCenterOfMass> -6.86488e-02 1.25142e-03 -0.0404895 </oCenterOfMass>
<CenterOfMass> -4.94890e-02 8.92912e-04 -0.0408259 </CenterOfMass>
<Children>
<Link> H_PAN
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 0 0 </Origin>
<Orient> 1 0 0
0 1 0
0 0 1 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -60 60 </Range>
<Zero> 0 </Zero>
</Joint>
<Mass> 7.10e-02 </Mass>
<CenterOfMass> 5.39731e-03 -1.58067e-03 5.64034e-02 </CenterOfMass>
<Children>
<Link> H_TILT
<Joint type="Revolute">
<BaseFrame>
<Origin> 0.015 0 0.103 </Origin>
<Orient> 1 0 0
0 0 1
0 -1 0 </Orient>
</BaseFrame>
<Axis> NEG_EZ </Axis>
<Range> -45 15 </Range>
<Zero> 0 </Zero>
</Joint>
<Mass> 0 </Mass>
<CenterOfMass> 0 0 0 </CenterOfMass>
<Children>
<Link> H_ROLL
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 0 0 </Origin>
<Orient> 1 0 0
0 1 0
0 0 1 </Orient>
</BaseFrame>
<Axis> NEG_EX </Axis>
<Range> -15 15 </Range>
<Zero> 0 </Zero>
</Joint>
<Mass> 4.12e-01 </Mass>
<CenterOfMass> -1.03952e-03 -5.17985e-03 1.82267e-05 </CenterOfMass>
<Children>
<Link> HEAD
<Joint type="None">
<BaseFrame>
<Origin> 0 -0.07 0 </Origin>
<Orient> 1 0 0
0 1 0
0 0 1 </Orient>
</BaseFrame>
</Joint>
</Link>
<Link> EYE
<Joint type="None">
<BaseFrame>
<Origin> 0.06 0.004 0 </Origin>
<Orient> 1 0 0
0 1 0
0 0 1 </Orient>
</BaseFrame>
</Joint>
</Link>
<Link> REYE
<Joint type="None">
<BaseFrame>
<Origin> 0.05 0.004 -0.03 </Origin>
<Orient> 1 0 0
0 1 0
0 0 1 </Orient>
</BaseFrame>
</Joint>
</Link>
<Link> LEYE
<Joint type="None">
<BaseFrame>
<Origin> 0.05 0.004 0.03 </Origin>
<Orient> 1 0 0
0 1 0
0 0 1 </Orient>
</BaseFrame>
</Joint>
</Link>
</Children>
</Link>
</Children>
</Link>
</Children>
</Link>
<Link> R_SFE
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 -0.111 0 </Origin>
<Orient> 1 0 0
0 0 1
0 -1 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -90 140 </Range>
<Zero> 50 </Zero>
</Joint>
<Mass> 2.10e-01 </Mass>
<CenterOfMass> 8.28367e-05 6.66808e-03 6.34824e-03 </CenterOfMass>
<Children>
<Link> R_SAA
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 0 0 </Origin>
<Orient> 0 -1 0
0 0 -1
1 0 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -90 0 </Range>
<Zero> -30 </Zero>
</Joint>
<Mass> 2.34e-01 </Mass>
<CenterOfMass> -6.57560e-04 -4.63848e-02 -3.77395e-03 </CenterOfMass>
<Children>
<Link> R_SHR
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 -0.111 0 </Origin>
<Orient> 0 -1 0
0 0 -1
1 0 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -90 90 </Range>
<Zero> -30 </Zero>
</Joint>
<Mass> 1.965e-01 </Mass>
<CenterOfMass> -2.72189e-03 -1.60245e-03 -2.20452e-03 </CenterOfMass>
<Children>
<Link> R_EB
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 0 0 </Origin>
<Orient> 1 0 0
0 0 -1
0 1 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -115 0 </Range>
<Zero> -60 </Zero>
</Joint>
<Mass> 2.16e-01 </Mass>
<CenterOfMass> 1.00237e-03 6.64225e-02 -6.15512e-04 </CenterOfMass>
<Children>
<Link> R_WR
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 0.133 0 </Origin>
<Orient> 1 0 0
0 0 -1
0 1 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Zero> -30 </Zero>
<Range> -60 60 </Range>
</Joint>
</Link>
</Children>
</Link>
</Children>
</Link>
</Children>
</Link>
</Children>
</Link>
<Link> L_SFE
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 0.111 0 </Origin>
<Orient> 1 0 0
0 0 1
0 -1 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -90 140 </Range>
<Zero> 50 </Zero>
</Joint>
<Mass> 2.10e-01 </Mass>
<CenterOfMass> -3.64197e-05 6.64174e-03 -6.34825e-03 </CenterOfMass>
<Children>
<Link> L_SAA
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 0 0 </Origin>
<Orient> 0 -1 0
0 0 -1
1 0 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> 0 90 </Range>
<Zero> 30 </Zero>
</Joint>
<Mass> 2.34e-01 </Mass>
<CenterOfMass> 7.47218e-04 -4.63619e-02 -3.77403e-03 </CenterOfMass>
<Children>
<Link> L_SHR
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 -0.111 0 </Origin>
<Orient> 0 -1 0
0 0 -1
1 0 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -91 91 </Range>
<Zero> 30 </Zero>
</Joint>
<Mass> 1.965e-01 </Mass>
<CenterOfMass> -2.70991e-03 1.60227e-03 -2.09019e-03 </CenterOfMass>
<Children>
<Link> L_EB
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 0 0 </Origin>
<Orient> 1 0 0
0 0 -1
0 1 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -115 0 </Range>
<Zero> -60 </Zero>
</Joint>
<Mass> 2.16e-01 </Mass>
<CenterOfMass> 9.62091e-04 6.64766e-02 5.58629e-04 </CenterOfMass>
<Children>
<Link> L_WR
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 0.133 0 </Origin>
<Orient> 1 0 0
0 0 1
0 -1 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -90 90 </Range>
<Zero> -30 </Zero>
</Joint>
</Link>
</Children>
</Link>
</Children>
</Link>
</Children>
</Link>
</Children>
</Link>
<Link> WAIST
<Joint type="Revolute">
<BaseFrame>
<Origin> 0.035 0 -0.125 </Origin>
<Orient> 1 0 0
0 0 -1
0 1 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> 0 35 </Range>
<Zero> 0 </Zero>
</Joint>
<Mass> 4.17e-01 </Mass>
<CenterOfMass> -3.22707e-02 1.11375e-02 -3.29172e-04 </CenterOfMass>
<Children>
<Link> R_LR
<Joint type="Revolute">
<BaseFrame>
<Origin> -0.035 -0.055 0.039 </Origin>
<Orient> 0 -1 0
0 0 1
-1 0 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -90 30 </Range>
<Zero> -10 </Zero>
</Joint>
<Mass> 5.87e-02 </Mass>
<CenterOfMass> -3.01500e-03 -2.23990e-03 3.35846e-02 </CenterOfMass>
<Children>
<Link> R_LAA
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 0 0 </Origin>
<Orient> 0 -1 0
0 0 -1
1 0 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -30 20 </Range>
<Zero> -5 </Zero>
</Joint>
<Mass> 2.10e-01 </Mass>
<CenterOfMass> -2.72697e-03 1.13482e-03 2.37780e-03 </CenterOfMass>
<Children>
<Link> R_LFE
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 0 0 </Origin>
<Orient> 1 0 0
0 0 -1
0 1 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -80 70 </Range>
<Zero> -10 </Zero>
</Joint>
<Mass> 5.19e-01 </Mass>
<CenterOfMass> -6.98208e-02 6.16508e-03 -3.26392e-03 </CenterOfMass>
<Children>
<Link> R_KN
<Joint type="Revolute">
<BaseFrame>
<Origin> -0.105 0 0 </Origin>
<Orient> 1 0 0
0 1 0
0 0 1 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> 5 130 </Range>
<Zero> 20 </Zero>
</Joint>
<Mass> 3.28e-01 </Mass>
<CenterOfMass> -5.08521e-02 5.36785e-03 -4.69750e-03 </CenterOfMass>
<Children>
<Link> R_AFE
<Joint type="Revolute">
<BaseFrame>
<Origin> -0.105 0 0 </Origin>
<Orient> 1 0 0
0 1 0
0 0 1 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -60 60 </Range>
<Zero> -10 </Zero>
</Joint>
<Mass> 1.95e-01 </Mass>
<CenterOfMass> 2.93669e-03 3.66853e-03 -1.33746e-03 </CenterOfMass>
<Children>
<Link> R_AAA
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 0 0 </Origin>
<Orient> 1 0 0
0 0 1
0 -1 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -25 25 </Range>
<Zero> 6 </Zero>
</Joint>
<Mass> 1.54e-01 </Mass>
<CenterOfMass> -2.92236e-02 3.24167e-03 8.27642e-03 </CenterOfMass>
<Children>
<Link> R_FOOT
<Joint type="None">
<BaseFrame>
<Origin> -0.040 0.005 0.014 </Origin>
<Orient> 1 0 0
0 1 0
0 0 1 </Orient>
</BaseFrame>
</Joint>
</Link>
</Children>
</Link>
</Children>
</Link>
</Children>
</Link>
</Children>
</Link>
</Children>
</Link>
</Children>
</Link>
<Link> L_LR
<Joint type="Revolute">
<BaseFrame>
<Origin> -0.035 -0.055 -0.039 </Origin>
<Orient> 0 -1 0
0 0 1
-1 0 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -30 90 </Range>
<Zero> 10 </Zero>
</Joint>
<Mass> 5.87e-02 </Mass>
<CenterOfMass> 3.00449e-03 -2.25088e-03 3.35846e-02 </CenterOfMass>
<Children>
<Link> L_LAA
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 0 0 </Origin>
<Orient> 0 -1 0
0 0 -1
1 0 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -20 30 </Range>
<Zero> 5 </Zero>
</Joint>
<Mass> 2.10e-01 </Mass>
<CenterOfMass> -2.71179e-03 -1.24723e-03 2.38665e-03 </CenterOfMass>
<Children>
<Link> L_LFE
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 0 0 </Origin>
<Orient> 1 0 0
0 0 -1
0 1 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -80 70 </Range>
<Zero> -10 </Zero>
</Joint>
<Mass> 5.19e-01 </Mass>
<CenterOfMass> -6.99224e-02 6.27642e-03 3.31502e-03 </CenterOfMass>
<Children>
<Link> L_KN
<Joint type="Revolute">
<BaseFrame>
<Origin> -0.105 0 0 </Origin>
<Orient> 1 0 0
0 1 0
0 0 1 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> 5 130 </Range>
<Zero> 20 </Zero>
</Joint>
<Mass> 3.28e-01 </Mass>
<CenterOfMass> -5.08386e-02 5.37031e-03 4.87773e-03 </CenterOfMass>
<Children>
<Link> L_AFE
<Joint type="Revolute">
<BaseFrame>
<Origin> -0.105 0 0 </Origin>
<Orient> 1 0 0
0 1 0
0 0 1 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -60 60 </Range>
<Zero> -10 </Zero>
</Joint>
<Mass> 1.95e-01 </Mass>
<CenterOfMass> 2.92057e-03 3.69219e-03 1.19731e-03 </CenterOfMass>
<Children>
<Link> L_AAA
<Joint type="Revolute">
<BaseFrame>
<Origin> 0 0 0 </Origin>
<Orient> 1 0 0
0 0 1
0 -1 0 </Orient>
</BaseFrame>
<Axis> EZ </Axis>
<Range> -25 25 </Range>
<Zero> -6 </Zero>
</Joint>
<Mass> 1.54e-01 </Mass>
<CenterOfMass> -2.92236e-02 -3.34620e-03 8.27642e-03 </CenterOfMass>
<Children>
<Link> L_FOOT
<Joint type="None">
<BaseFrame>
<Origin> -0.040 -0.005 0.014 </Origin>
<Orient> 1 0 0
0 1 0
0 0 1 </Orient>
</BaseFrame>
</Joint>
</Link>
</Children>
</Link>
</Children>
</Link>
</Children>
</Link>
</Children>
</Link>
</Children>
</Link>
</Children>
</Link>
</Children>
</Link>
</Children>
</Link>
</Children>
</Link>