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model://r2_description/meshes/r2_upperbody/Finger_Dist.dae r2/right_little_distal r2/right_little_medial 0.986799 0.155638 -0.044766 -4 4 1e+07 1000 0.1 0 0 0 1 0.227927 -1.09994 1.26744 -1.57698 0.080402 -1.36848 0 0 0 0 -0 0 0.05 0.001 0 0 0.001 0 0.001 0 0 0 0 -0 1.5708 0.9 0.9 0.9 model://r2_description/meshes/r2_upperbody/Finger_Proximal.dae 0 0 0 0 -0 1.5708 1 1 1 model://r2_description/meshes/r2_upperbody/Finger_Proximal.dae r2/right_ring_proximal r2/right_wrist_yaw 0.979486 0.201418 -0.006166 -4 4 1e+07 1000 0.1 0 0 0 1 0.23683 -1.14334 1.26387 -1.57698 0.080402 -1.36848 0 0 0 0 -0 0 0.05 0.001 0 0 0.001 0 0.001 0 0 0 3.14 0 1.57 0.9 0.9 0.9 model://r2_description/meshes/r2_upperbody/Finger_Mid.dae 0 0 0 3.14 0 1.57 1 1 1 model://r2_description/meshes/r2_upperbody/Finger_Mid.dae r2/right_ring_medial r2/right_ring_proximal 0.979486 0.201418 -0.006166 -4 4 1e+07 1000 0.1 0 0 0 1 0.242935 -1.1731 1.26142 -1.57698 0.080402 -1.36848 0.012319 0 0 0 -0 0 0.1 0.002 0 0 0.00201518 0 0.00201518 0 0 0 0 -1.57 0 0.9 0.9 0.9 model://r2_description/meshes/r2_upperbody/Finger_Dist.dae 0 0 0 0 -1.57 0 1 1 1 model://r2_description/meshes/r2_upperbody/Finger_Dist.dae r2/right_ring_distal r2/right_ring_medial 0.979486 0.201418 -0.006166 -4 4 1e+07 1000 0.1 0 0 0 1 0.25116 -1.0112 1.25508 -1.49106 -0.156703 0.049782 0.005969 0 0 0 -0 0 0.1 0.002 0 0 0.00200356 -4.1359e-25 0.00200356 0.001938 0 0 3.14159 -0 0 0.9 0.9 0.9 model://r2_description/meshes/r2_upperbody/Left_Thumb_Carp.dae 0.001938 0 0 3.14159 -0 0 1 1 1 model://r2_description/meshes/r2_upperbody/Left_Thumb_Carp.dae r2/right_thumb_base r2/right_wrist_yaw -0.062019 0.994969 0.07868 -4 4 1e+07 1000 0.1 0 0 0 1 0.262937 -1.01061 1.25695 -3.06186 -0.156703 0.049782 0 0 0 0 -0 0 0.05 0.001 0 0 0.001 0 0.001 -0 0 0 1.57079 -1.57079 3.14159 0.9 0.9 0.9 model://r2_description/meshes/r2_upperbody/Right_Thumb_MtCar.dae -0 0 0 1.57079 -1.57079 3.14159 1 1 1 model://r2_description/meshes/r2_upperbody/Right_Thumb_MtCar.dae r2/right_thumb_medial_prime r2/right_thumb_base 0.15141 0.087295 -0.984609 -4 4 1e+07 1000 0.1 0 0 0 1 0.292754 -1.00743 1.26439 -2.36372 -0.156703 0.049782 0 0 0 0 -0 0 0.05 0.001 0 0 0.001 0 0.001 0 0 0 -3.14159 -0 1.5708 1 1 1 model://r2_description/meshes/r2_upperbody/Thumb_Proximal.dae 0 0 0 -3.14159 -0 1.5708 1 1 1 model://r2_description/meshes/r2_upperbody/Thumb_Proximal.dae r2/right_thumb_medial r2/right_thumb_medial_prime 0.076122 0.706426 -0.703682 -4 4 1e+07 1000 0.1 0 0 0 1 0.331593 -1.0055 1.27054 -2.36372 -0.156703 0.049782 0.01651 0 0 0 -0 0 0.1 0.002 0 0 0.00202726 0 0.00202726 0 0 0 7e-06 -7e-06 3.14159 1 1 1 model://r2_description/meshes/r2_upperbody/Thumb_Dist.dae 0 0 0 7e-06 -7e-06 3.14159 1 1 1 model://r2_description/meshes/r2_upperbody/Thumb_Dist.dae r2/right_thumb_distal r2/right_thumb_medial 0.076122 0.706426 -0.703682 -4 4 1e+07 1000 0.1 0 0 0 1 0.087384 0.028435 1.33403 1.57079 0.001593 -0.001598 -0.044614 0.031786 0.021419 0 -0 0 1.53113 0.0032988 0.00148891 0.000497066 0.00504782 -0.000368273 0.00521603 0 0 0.028575 1.57079 1.57079 3.14159 1 1 1 model://r2_description/meshes/r2_upperbody/Neck_Lower.dae 0 0 0.028575 1.57079 1.57079 3.14159 1 1 1 model://r2_description/meshes/r2_upperbody/Neck_Lower.dae r2/neck_lower r2/waist_center -0.001598 -0.999999 4e-06 -0.7 0.175 10000 1000 10 0 0 0 1 0.011259 -1.8e-05 1.41036 -7e-06 0.001593 -0.001598 0.012726 0.007229 0.048897 0 -0 0 2.23456 0.00741257 -0.000428983 -0.00145285 0.00802681 -0.000762303 0.000514676 0.0762 0 -0.0762 0 -0 1.5708 1 1 1 model://r2_description/meshes/r2_upperbody/Neck_Upper.dae 0.0762 0 -0.0762 0 -0 1.5708 1 1 1 model://r2_description/meshes/r2_upperbody/Neck_Upper.dae r2/neck_upper r2/neck_lower 0.001593 5e-06 0.999999 -1.22 1.22 10000 1000 10 0 0 0 1 0.062233 0.007369 1.51186 1.57079 0.001593 -0.001598 0.005764 0.072118 0.013601 0 -0 0 6.02038 0.0490763 0.00767955 0.000573273 0.0378802 0.0012366 0.0487047 0 0.07 0.007468 3.14159 1.57079 3.14159 1 1 1 model://r2_description/meshes/r2_upperbody/Head.dae 0 0.07 0.007468 3.14159 1.57079 3.14159 1 1 1 model://r2_description/meshes/r2_upperbody/Head.dae r2/head r2/neck_upper -0.001598 -0.999999 4e-06 -0.7 0.175 10000 1000 10 0 0 0 1