8601 lines (8601 with data), 295.3 kB
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</axis>
</joint>
<joint name="Cervical5_rotation" type="fixed">
<parent>Cervical5_interim_0</parent>
<child>Cervical5_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Cervical5_flexion" type="fixed">
<parent>Cervical5_interim_1</parent>
<child>Cervical5</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.15707963267948966</lower>
<upper>0.15707963267948966</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Cervical6_bending" type="fixed">
<parent>Cervical7</parent>
<child>Cervical6_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Cervical6_rotation" type="fixed">
<parent>Cervical6_interim_0</parent>
<child>Cervical6_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Cervical6_flexion" type="fixed">
<parent>Cervical6_interim_1</parent>
<child>Cervical6</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.15707963267948966</lower>
<upper>0.15707963267948966</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Cervical7_bending" type="fixed">
<parent>Cervical8</parent>
<child>Cervical7_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Cervical7_rotation" type="fixed">
<parent>Cervical7_interim_0</parent>
<child>Cervical7_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Cervical7_flexion" type="fixed">
<parent>Cervical7_interim_1</parent>
<child>Cervical7</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.15707963267948966</lower>
<upper>0.15707963267948966</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Cervical8_bending" type="fixed">
<parent>Thoracic1</parent>
<child>Cervical8_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Cervical8_rotation" type="fixed">
<parent>Cervical8_interim_0</parent>
<child>Cervical8_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Cervical8_flexion" type="fixed">
<parent>Cervical8_interim_1</parent>
<child>Cervical8</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.15707963267948966</lower>
<upper>0.15707963267948966</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic1_bending" type="fixed">
<parent>Thoracic2</parent>
<child>Thoracic1_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic1_rotation" type="fixed">
<parent>Thoracic1_interim_0</parent>
<child>Thoracic1_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic1_flexion" type="fixed">
<parent>Thoracic1_interim_1</parent>
<child>Thoracic1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic10_bending" type="fixed">
<parent>Thoracic11</parent>
<child>Thoracic10_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic10_rotation" type="fixed">
<parent>Thoracic10_interim_0</parent>
<child>Thoracic10_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic10_flexion" type="fixed">
<parent>Thoracic10_interim_1</parent>
<child>Thoracic10</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic11_bending" type="fixed">
<parent>Thoracic12</parent>
<child>Thoracic11_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic11_rotation" type="fixed">
<parent>Thoracic11_interim_0</parent>
<child>Thoracic11_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic11_flexion" type="fixed">
<parent>Thoracic11_interim_1</parent>
<child>Thoracic11</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic12_bending" type="fixed">
<parent>Thoracic13</parent>
<child>Thoracic12_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic12_rotation" type="fixed">
<parent>Thoracic12_interim_0</parent>
<child>Thoracic12_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic12_flexion" type="fixed">
<parent>Thoracic12_interim_1</parent>
<child>Thoracic12</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic13_bending" type="fixed">
<parent>Lumbar1</parent>
<child>Thoracic13_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic13_rotation" type="fixed">
<parent>Thoracic13_interim_0</parent>
<child>Thoracic13_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic13_flexion" type="fixed">
<parent>Thoracic13_interim_1</parent>
<child>Thoracic13</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic2_bending" type="fixed">
<parent>Thoracic3</parent>
<child>Thoracic2_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic2_rotation" type="fixed">
<parent>Thoracic2_interim_0</parent>
<child>Thoracic2_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic2_flexion" type="fixed">
<parent>Thoracic2_interim_1</parent>
<child>Thoracic2</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic3_bending" type="fixed">
<parent>Thoracic4</parent>
<child>Thoracic3_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic3_rotation" type="fixed">
<parent>Thoracic3_interim_0</parent>
<child>Thoracic3_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic3_flexion" type="fixed">
<parent>Thoracic3_interim_1</parent>
<child>Thoracic3</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic4_bending" type="fixed">
<parent>Thoracic5</parent>
<child>Thoracic4_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic4_rotation" type="fixed">
<parent>Thoracic4_interim_0</parent>
<child>Thoracic4_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic4_flexion" type="fixed">
<parent>Thoracic4_interim_1</parent>
<child>Thoracic4</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic5_bending" type="fixed">
<parent>Thoracic6</parent>
<child>Thoracic5_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic5_rotation" type="fixed">
<parent>Thoracic5_interim_0</parent>
<child>Thoracic5_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic5_flexion" type="fixed">
<parent>Thoracic5_interim_1</parent>
<child>Thoracic5</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic6_bending" type="fixed">
<parent>Thoracic7</parent>
<child>Thoracic6_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic6_rotation" type="fixed">
<parent>Thoracic6_interim_0</parent>
<child>Thoracic6_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic6_flexion" type="fixed">
<parent>Thoracic6_interim_1</parent>
<child>Thoracic6</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic7_bending" type="fixed">
<parent>Thoracic8</parent>
<child>Thoracic7_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic7_rotation" type="fixed">
<parent>Thoracic7_interim_0</parent>
<child>Thoracic7_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic7_flexion" type="fixed">
<parent>Thoracic7_interim_1</parent>
<child>Thoracic7</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic8_bending" type="fixed">
<parent>Thoracic9</parent>
<child>Thoracic8_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic8_rotation" type="fixed">
<parent>Thoracic8_interim_0</parent>
<child>Thoracic8_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic8_flexion" type="fixed">
<parent>Thoracic8_interim_1</parent>
<child>Thoracic8</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic9_bending" type="fixed">
<parent>Thoracic10</parent>
<child>Thoracic9_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic9_rotation" type="fixed">
<parent>Thoracic9_interim_0</parent>
<child>Thoracic9_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Thoracic9_flexion" type="fixed">
<parent>Thoracic9_interim_1</parent>
<child>Thoracic9</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar1_bending" type="fixed">
<parent>Lumbar2</parent>
<child>Lumbar1_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar1_rotation" type="fixed">
<parent>Lumbar1_interim_0</parent>
<child>Lumbar1_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar1_flexion" type="fixed">
<parent>Lumbar1_interim_1</parent>
<child>Lumbar1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.10471975511965978</lower>
<upper>0.10471975511965978</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar2_bending" type="fixed">
<parent>Lumbar3</parent>
<child>Lumbar2_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar2_rotation" type="fixed">
<parent>Lumbar2_interim_0</parent>
<child>Lumbar2_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar2_flexion" type="fixed">
<parent>Lumbar2_interim_1</parent>
<child>Lumbar2</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.10471975511965978</lower>
<upper>0.10471975511965978</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar3_bending" type="fixed">
<parent>Lumbar4</parent>
<child>Lumbar3_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar3_rotation" type="fixed">
<parent>Lumbar3_interim_0</parent>
<child>Lumbar3_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar3_flexion" type="fixed">
<parent>Lumbar3_interim_1</parent>
<child>Lumbar3</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.10471975511965978</lower>
<upper>0.10471975511965978</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar4_bending" type="fixed">
<parent>Lumbar5</parent>
<child>Lumbar4_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar4_rotation" type="fixed">
<parent>Lumbar4_interim_0</parent>
<child>Lumbar4_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar4_flexion" type="fixed">
<parent>Lumbar4_interim_1</parent>
<child>Lumbar4</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.10471975511965978</lower>
<upper>0.10471975511965978</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar5_bending" type="fixed">
<parent>Lumbar6</parent>
<child>Lumbar5_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar5_rotation" type="fixed">
<parent>Lumbar5_interim_0</parent>
<child>Lumbar5_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar5_flexion" type="fixed">
<parent>Lumbar5_interim_1</parent>
<child>Lumbar5</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.10471975511965978</lower>
<upper>0.10471975511965978</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar6_bending" type="fixed">
<parent>Pelvis</parent>
<child>Lumbar6_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar6_rotation" type="fixed">
<parent>Lumbar6_interim_0</parent>
<child>Lumbar6_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Lumbar6_flexion" type="fixed">
<parent>Lumbar6_interim_1</parent>
<child>Lumbar6</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.10471975511965978</lower>
<upper>0.10471975511965978</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LHip_rotation" type="fixed">
<parent>Pelvis</parent>
<child>LFemur_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>0.5235987755982988</lower>
<upper>-0.17453292519943295</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LHip_adduction" type="fixed">
<parent>LFemur_interim_0</parent>
<child>LFemur_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>0.6981317007977318</lower>
<upper>-0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LHip_flexion" type="fixed">
<parent>LFemur_interim_1</parent>
<child>LFemur</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.5235987755982988</lower>
<upper>0.8726646259971648</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LKnee_flexion" type="revolute">
<parent>LFemur</parent>
<child>LTibia</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-2.530727415391778</lower>
<upper>-0.6981317007977318</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LAnkle_inversion" type="fixed">
<parent>LTibia</parent>
<child>LTarsus_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>0.17453292519943295</lower>
<upper>-0.17453292519943295</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LAnkle_adduction" type="fixed">
<parent>LTarsus_interim_0</parent>
<child>LTarsus_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>0.5235987755982988</lower>
<upper>-0.5235987755982988</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LAnkle_flexion" type="fixed">
<parent>LTarsus_interim_1</parent>
<child>LTarsus</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.8726646259971648</lower>
<upper>0.8726646259971648</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LMetatarsus1_flexion" type="fixed">
<parent>LTarsus</parent>
<child>LMetatarsus1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LMetatarsus2_flexion" type="fixed">
<parent>LTarsus</parent>
<child>LMetatarsus2</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LMetatarsus3_flexion" type="fixed">
<parent>LTarsus</parent>
<child>LMetatarsus3</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LMetatarsus4_flexion" type="fixed">
<parent>LTarsus</parent>
<child>LMetatarsus4</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LMetatarsus5_flexion" type="fixed">
<parent>LTarsus</parent>
<child>LMetatarsus5</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LBPhalange1_flexion" type="fixed">
<parent>LMetatarsus1</parent>
<child>LBPhalange1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LBPhalange2_flexion" type="fixed">
<parent>LMetatarsus2</parent>
<child>LBPhalange2</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LBPhalange3_flexion" type="fixed">
<parent>LMetatarsus3</parent>
<child>LBPhalange3</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LBPhalange4_flexion" type="fixed">
<parent>LMetatarsus4</parent>
<child>LBPhalange4</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LBPhalange5_flexion" type="fixed">
<parent>LMetatarsus5</parent>
<child>LBPhalange5</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RHip_rotation" type="fixed">
<parent>Pelvis</parent>
<child>RFemur_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.5235987755982988</lower>
<upper>0.17453292519943295</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RHip_adduction" type="fixed">
<parent>RFemur_interim_0</parent>
<child>RFemur_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.6981317007977318</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RHip_flexion" type="fixed">
<parent>RFemur_interim_1</parent>
<child>RFemur</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.5235987755982988</lower>
<upper>0.8726646259971648</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RKnee_flexion" type="revolute">
<parent>RFemur</parent>
<child>RTibia</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-2.530727415391778</lower>
<upper>-0.6981317007977318</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RAnkle_inversion" type="fixed">
<parent>RTibia</parent>
<child>RTarsus_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.17453292519943295</lower>
<upper>0.17453292519943295</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RAnkle_adduction" type="fixed">
<parent>RTarsus_interim_0</parent>
<child>RTarsus_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.5235987755982988</lower>
<upper>0.5235987755982988</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RAnkle_flexion" type="fixed">
<parent>RTarsus_interim_1</parent>
<child>RTarsus</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.8726646259971648</lower>
<upper>0.8726646259971648</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RMetatarsus1_flexion" type="fixed">
<parent>RTarsus</parent>
<child>RMetatarsus1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RMetatarsus2_flexion" type="fixed">
<parent>RTarsus</parent>
<child>RMetatarsus2</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RMetatarsus3_flexion" type="fixed">
<parent>RTarsus</parent>
<child>RMetatarsus3</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RMetatarsus4_flexion" type="fixed">
<parent>RTarsus</parent>
<child>RMetatarsus4</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RMetatarsus5_flexion" type="fixed">
<parent>RTarsus</parent>
<child>RMetatarsus5</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RBPhalange1_flexion" type="fixed">
<parent>RMetatarsus1</parent>
<child>RBPhalange1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RBPhalange2_flexion" type="fixed">
<parent>RMetatarsus2</parent>
<child>RBPhalange2</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RBPhalange3_flexion" type="fixed">
<parent>RMetatarsus3</parent>
<child>RBPhalange3</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RBPhalange4_flexion" type="fixed">
<parent>RMetatarsus4</parent>
<child>RBPhalange4</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RBPhalange5_flexion" type="fixed">
<parent>RMetatarsus5</parent>
<child>RBPhalange5</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LScapula_rotation" type="fixed">
<parent>Thoracic1</parent>
<child>LScapula</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>0.17453292519943295</lower>
<upper>-0.17453292519943295</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LShoulder_rotation" type="fixed">
<parent>LScapula</parent>
<child>LHumerus_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>0.6283185307179586</lower>
<upper>-0.05235987755982989</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LShoulder_adduction" type="fixed">
<parent>LHumerus_interim_0</parent>
<child>LHumerus_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>0.6981317007977318</lower>
<upper>-0.24434609527920614</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LShoulder_flexion" type="fixed">
<parent>LHumerus_interim_1</parent>
<child>LHumerus</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.7853981633974483</lower>
<upper>0.7853981633974483</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LElbow_flexion" type="fixed">
<parent>LHumerus</parent>
<child>LUlna</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>1.0471975511965976</lower>
<upper>2.670353755551324</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LElbow_supination" type="fixed">
<parent>LUlna</parent>
<child>LRadius</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>1.5707963267948966</lower>
<upper>-0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LRadius_interim_joint" type="fixed">
<parent>LRadius</parent>
<child>LRadius_interim</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-3.141592653589793</lower>
<upper>3.141592653589793</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LWrist_adduction" type="revolute">
<parent>LRadius_interim</parent>
<child>LCarpus_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 10.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>0.3490658503988659</lower>
<upper>-0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LWrist_flexion" type="revolute">
<parent>LCarpus_interim_0</parent>
<child>LCarpus</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.8726646259971648</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LMetaCarpus1_flexion" type="fixed">
<parent>LCarpus</parent>
<child>LMetaCarpus1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LMetaCarpus2_flexion" type="fixed">
<parent>LCarpus</parent>
<child>LMetaCarpus2</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LMetaCarpus3_flexion" type="fixed">
<parent>LCarpus</parent>
<child>LMetaCarpus3</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LMetaCarpus4_flexion" type="fixed">
<parent>LCarpus</parent>
<child>LMetaCarpus4</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LMetaCarpus5_flexion" type="fixed">
<parent>LCarpus</parent>
<child>LMetaCarpus5</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LFPhalange1_flexion" type="fixed">
<parent>LMetaCarpus1</parent>
<child>LFPhalange1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LFPhalange2_flexion" type="fixed">
<parent>LMetaCarpus2</parent>
<child>LFPhalange2</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LFPhalange3_flexion" type="fixed">
<parent>LMetaCarpus3</parent>
<child>LFPhalange3</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LFPhalange4_flexion" type="fixed">
<parent>LMetaCarpus4</parent>
<child>LFPhalange4</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="LFPhalange5_flexion" type="fixed">
<parent>LMetaCarpus5</parent>
<child>LFPhalange5</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RScapula_rotation" type="fixed">
<parent>Thoracic1</parent>
<child>RScapula</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.17453292519943295</lower>
<upper>0.17453292519943295</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RShoulder_rotation" type="revolute">
<parent>RScapula</parent>
<child>RHumerus_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.6283185307179586</lower>
<upper>0.05235987755982989</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RShoulder_adduction" type="revolute">
<parent>RHumerus_interim_0</parent>
<child>RHumerus_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.6981317007977318</lower>
<upper>0.24434609527920614</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RShoulder_flexion" type="revolute">
<parent>RHumerus_interim_1</parent>
<child>RHumerus</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.7853981633974483</lower>
<upper>0.7853981633974483</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RElbow_flexion" type="revolute">
<parent>RHumerus</parent>
<child>RUlna</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>1.0471975511965976</lower>
<upper>2.670353755551324</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RElbow_supination" type="revolute">
<parent>RUlna</parent>
<child>RRadius</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-1.5707963267948966</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RRadius_interim_joint" type="fixed">
<parent>RRadius</parent>
<child>RRadius_interim</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-3.141592653589793</lower>
<upper>3.141592653589793</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RWrist_adduction" type="revolute">
<parent>RRadius_interim</parent>
<child>RCarpus_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RWrist_flexion" type="revolute">
<parent>RCarpus_interim_0</parent>
<child>RCarpus</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.8726646259971648</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RMetaCarpus1_flexion" type="fixed">
<parent>RCarpus</parent>
<child>RMetaCarpus1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RMetaCarpus2_flexion" type="fixed">
<parent>RCarpus</parent>
<child>RMetaCarpus2</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RMetaCarpus3_flexion" type="fixed">
<parent>RCarpus</parent>
<child>RMetaCarpus3</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RMetaCarpus4_flexion" type="fixed">
<parent>RCarpus</parent>
<child>RMetaCarpus4</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RMetaCarpus5_flexion" type="fixed">
<parent>RCarpus</parent>
<child>RMetaCarpus5</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RFPhalange1_flexion" type="fixed">
<parent>RMetaCarpus1</parent>
<child>RFPhalange1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RFPhalange2_flexion" type="fixed">
<parent>RMetaCarpus2</parent>
<child>RFPhalange2</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RFPhalange3_flexion" type="fixed">
<parent>RMetaCarpus3</parent>
<child>RFPhalange3</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RFPhalange4_flexion" type="fixed">
<parent>RMetaCarpus4</parent>
<child>RFPhalange4</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="RFPhalange5_flexion" type="fixed">
<parent>RMetaCarpus5</parent>
<child>RFPhalange5</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.08726646259971647</lower>
<upper>0.08726646259971647</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail1_bending" type="fixed">
<parent>Pelvis</parent>
<child>Tail1_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail1_rotation" type="fixed">
<parent>Tail1_interim_0</parent>
<child>Tail1_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail1_flexion" type="fixed">
<parent>Tail1_interim_1</parent>
<child>Tail1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail10_bending" type="fixed">
<parent>Tail9</parent>
<child>Tail10_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail10_rotation" type="fixed">
<parent>Tail10_interim_0</parent>
<child>Tail10_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail10_flexion" type="fixed">
<parent>Tail10_interim_1</parent>
<child>Tail10</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail11_bending" type="fixed">
<parent>Tail10</parent>
<child>Tail11_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail11_rotation" type="fixed">
<parent>Tail11_interim_0</parent>
<child>Tail11_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail11_flexion" type="fixed">
<parent>Tail11_interim_1</parent>
<child>Tail11</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail12_bending" type="fixed">
<parent>Tail11</parent>
<child>Tail12_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail12_rotation" type="fixed">
<parent>Tail12_interim_0</parent>
<child>Tail12_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail12_flexion" type="fixed">
<parent>Tail12_interim_1</parent>
<child>Tail12</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail13_bending" type="fixed">
<parent>Tail12</parent>
<child>Tail13_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail13_rotation" type="fixed">
<parent>Tail13_interim_0</parent>
<child>Tail13_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail13_flexion" type="fixed">
<parent>Tail13_interim_1</parent>
<child>Tail13</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail14_bending" type="fixed">
<parent>Tail13</parent>
<child>Tail14_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail14_rotation" type="fixed">
<parent>Tail14_interim_0</parent>
<child>Tail14_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail14_flexion" type="fixed">
<parent>Tail14_interim_1</parent>
<child>Tail14</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail15_bending" type="fixed">
<parent>Tail14</parent>
<child>Tail15_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail15_rotation" type="fixed">
<parent>Tail15_interim_0</parent>
<child>Tail15_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail15_flexion" type="fixed">
<parent>Tail15_interim_1</parent>
<child>Tail15</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail16_bending" type="fixed">
<parent>Tail15</parent>
<child>Tail16_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail16_rotation" type="fixed">
<parent>Tail16_interim_0</parent>
<child>Tail16_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail16_flexion" type="fixed">
<parent>Tail16_interim_1</parent>
<child>Tail16</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail17_bending" type="fixed">
<parent>Tail16</parent>
<child>Tail17_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail17_rotation" type="fixed">
<parent>Tail17_interim_0</parent>
<child>Tail17_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail17_flexion" type="fixed">
<parent>Tail17_interim_1</parent>
<child>Tail17</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail18_bending" type="fixed">
<parent>Tail17</parent>
<child>Tail18_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail18_rotation" type="fixed">
<parent>Tail18_interim_0</parent>
<child>Tail18_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail18_flexion" type="fixed">
<parent>Tail18_interim_1</parent>
<child>Tail18</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail19_bending" type="fixed">
<parent>Tail18</parent>
<child>Tail19_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail19_rotation" type="fixed">
<parent>Tail19_interim_0</parent>
<child>Tail19_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail19_flexion" type="fixed">
<parent>Tail19_interim_1</parent>
<child>Tail19</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail2_bending" type="fixed">
<parent>Tail1</parent>
<child>Tail2_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail2_rotation" type="fixed">
<parent>Tail2_interim_0</parent>
<child>Tail2_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail2_flexion" type="fixed">
<parent>Tail2_interim_1</parent>
<child>Tail2</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail20_bending" type="fixed">
<parent>Tail19</parent>
<child>Tail20_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail20_rotation" type="fixed">
<parent>Tail20_interim_0</parent>
<child>Tail20_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail20_flexion" type="fixed">
<parent>Tail20_interim_1</parent>
<child>Tail20</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail21_bending" type="fixed">
<parent>Tail20</parent>
<child>Tail21_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail21_rotation" type="fixed">
<parent>Tail21_interim_0</parent>
<child>Tail21_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail21_flexion" type="fixed">
<parent>Tail21_interim_1</parent>
<child>Tail21</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail22_bending" type="fixed">
<parent>Tail21</parent>
<child>Tail22_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail22_rotation" type="fixed">
<parent>Tail22_interim_0</parent>
<child>Tail22_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail22_flexion" type="fixed">
<parent>Tail22_interim_1</parent>
<child>Tail22</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail23_bending" type="fixed">
<parent>Tail22</parent>
<child>Tail23_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail23_rotation" type="fixed">
<parent>Tail23_interim_0</parent>
<child>Tail23_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail23_flexion" type="fixed">
<parent>Tail23_interim_1</parent>
<child>Tail23</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail3_bending" type="fixed">
<parent>Tail2</parent>
<child>Tail3_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail3_rotation" type="fixed">
<parent>Tail3_interim_0</parent>
<child>Tail3_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail3_flexion" type="fixed">
<parent>Tail3_interim_1</parent>
<child>Tail3</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail4_bending" type="fixed">
<parent>Tail3</parent>
<child>Tail4_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail4_rotation" type="fixed">
<parent>Tail4_interim_0</parent>
<child>Tail4_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail4_flexion" type="fixed">
<parent>Tail4_interim_1</parent>
<child>Tail4</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail5_bending" type="fixed">
<parent>Tail4</parent>
<child>Tail5_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail5_rotation" type="fixed">
<parent>Tail5_interim_0</parent>
<child>Tail5_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail5_flexion" type="fixed">
<parent>Tail5_interim_1</parent>
<child>Tail5</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail6_bending" type="fixed">
<parent>Tail5</parent>
<child>Tail6_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail6_rotation" type="fixed">
<parent>Tail6_interim_0</parent>
<child>Tail6_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail6_flexion" type="fixed">
<parent>Tail6_interim_1</parent>
<child>Tail6</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail7_bending" type="fixed">
<parent>Tail6</parent>
<child>Tail7_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail7_rotation" type="fixed">
<parent>Tail7_interim_0</parent>
<child>Tail7_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail7_flexion" type="fixed">
<parent>Tail7_interim_1</parent>
<child>Tail7</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail8_bending" type="fixed">
<parent>Tail7</parent>
<child>Tail8_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail8_rotation" type="fixed">
<parent>Tail8_interim_0</parent>
<child>Tail8_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail8_flexion" type="fixed">
<parent>Tail8_interim_1</parent>
<child>Tail8</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail9_bending" type="fixed">
<parent>Tail8</parent>
<child>Tail9_interim_0</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 0.0 1.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail9_rotation" type="fixed">
<parent>Tail9_interim_0</parent>
<child>Tail9_interim_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0.0 1.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
<joint name="Tail9_flexion" type="fixed">
<parent>Tail9_interim_1</parent>
<child>Tail9</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<limit>
<lower>-0.3490658503988659</lower>
<upper>0.3490658503988659</upper>
<effort>10000000000.0</effort>
<velocity>628.3185307179587</velocity>
</limit>
</axis>
</joint>
</model>
</world>
</sdf>
Datasets
Models
