<commit_before><Humanoid name="sample">
  <Feet>	
    <Right>
	<SizeX> 0.25 </SizeX>
	<SizeY> 0.14 </SizeY>
        <SizeZ> 0.10 </SizeZ>
        <AnklePosition> 0.0 0.0 0.1 </AnklePosition>
        <JointNb> 2 </JointNb>
        <JointsID> 4 5 </JointsID>
    </Right>
    <Left>
	<SizeX> 0.25 </SizeX>
	<SizeY> 0.14 </SizeY>
        <SizeZ> 0.10 </SizeZ>
        <AnklePosition>0.0 0.0 0.1</AnklePosition>
        <JointNb> 2 </JointNb>
        <JointsID> 17 18 </JointsID>
    </Left>
  </Feet>	
  <Waist>
    <Right>
      <WaistToHip>0.0 -0.09 0.0</WaistToHip>
    </Right>
    <Left>
      <WaistToHip>0.0 0.09 0.0</WaistToHip>
    </Left>
    <JointNb> 1 </JointNb>
    <JointsID> -1 </JointsID>
  </Waist>
  <Legs>
    <Right>
        <HipLength>0.0 -0.035 0.0 </HipLength>
        <FemurLength> 0.3535 </FemurLength>
        <TibiaLength> 0.3 </TibiaLength>
        <JointNb> 4 </JointNb>
        <JointsID> 0 1 2 3</JointsID>
    </Right>
    <Left> 
        <HipLength>0.0 0.035 0.0</HipLength> 
        <FemurLength>0.3535</FemurLength>
        <TibiaLength> 0.3 </TibiaLegnth>
        <JointNb> 4 </JointNb>
        <JointsID> 13 14 15 16 </JointsID>
    </Left>
  </Legs>  
  <Hands>
    <Right>
      <Center>0.0 0.0 -0.17</Center>
      <okayAxis>1.0 0.0 0.0 </okayAxis>
      <showingAxis>0.0 0.0 -1.0</showingAxis>
      <palmAxis>0.0 1.0 0.0</showingAxis>
    </Right>
    <Left>
      <Center>0.0 0.0 -0.17</Center>
      <okayAxis>1.0 0.0 0.0 </okayAxis>
      <showingAxis>0.0 0.0 -1.0</showingAxis>
      <palmAxis>0.0 -1.0 0.0</palmAxis>
    </Left>
  </Hands>
  <Wrists>
    <Right>
       <JointNb> 1 </JointNb>
       <JointsID> 12 </JointsID>
    </Right>
    <Left>
       <JointNb> 1 </JointNb>
       <JointsID> 25 </JointsID>
    </Left>
  </Wrists>
  <Arms>
    <Right>
        <UpperArmLength> 0.21 </UpperArmLength>
        <ForeArmLength> 0.25 </ForeArmLength>
        <JointNb> 7 </JointNb>
        <JointsID> 6 7 8 9 10 11 12 </JointsID>
    </Right>
    <Left>
        <UpperArmLength> 0.21 </UpperArmLength>
        <ForeArmLength> 0.25 </ForeArmLength>
        <JointNb> 7 </JointNb>
        <JointsID> 19 20 21 22 23 24 25 </JointsID>
    </Left>
  </Arms>
  <Head> 
       <JointNb> 0 </JointNb>
       <JointsID>  </JointsID>
  </Head>
  <Chest>
       <JointNb> 0 </JointNb>
       <JointsID>  </JointsID>
  </Chest>
</Humanoid>
<commit_msg>Add CHEST specification.<commit_after><Humanoid name="sample">
  <Feet>	
    <Right>
	<SizeX> 0.25 </SizeX>
	<SizeY> 0.14 </SizeY>
        <SizeZ> 0.10 </SizeZ>
        <AnklePosition> 0.0 0.0 0.1 </AnklePosition>
        <JointNb> 2 </JointNb>
        <JointsID> 4 5 </JointsID>
    </Right>
    <Left>
	<SizeX> 0.25 </SizeX>
	<SizeY> 0.14 </SizeY>
        <SizeZ> 0.10 </SizeZ>
        <AnklePosition>0.0 0.0 0.1</AnklePosition>
        <JointNb> 2 </JointNb>
        <JointsID> 17 18 </JointsID>
    </Left>
  </Feet>	
  <Waist>
    <Right>
      <WaistToHip>0.0 -0.09 0.0</WaistToHip>
    </Right>
    <Left>
      <WaistToHip>0.0 0.09 0.0</WaistToHip>
    </Left>
    <JointNb> 1 </JointNb>
    <JointsID> -1 </JointsID>
  </Waist>
  <Legs>
    <Right>
        <HipLength>0.0 -0.035 0.0 </HipLength>
        <FemurLength> 0.3535 </FemurLength>
        <TibiaLength> 0.3 </TibiaLength>
        <JointNb> 4 </JointNb>
        <JointsID> 0 1 2 3</JointsID>
    </Right>
    <Left> 
        <HipLength>0.0 0.035 0.0</HipLength> 
        <FemurLength>0.3535</FemurLength>
        <TibiaLength> 0.3 </TibiaLegnth>
        <JointNb> 4 </JointNb>
        <JointsID> 13 14 15 16 </JointsID>
    </Left>
  </Legs>  
  <Hands>
    <Right>
      <Center>0.0 0.0 -0.17</Center>
      <okayAxis>1.0 0.0 0.0 </okayAxis>
      <showingAxis>0.0 0.0 -1.0</showingAxis>
      <palmAxis>0.0 1.0 0.0</showingAxis>
    </Right>
    <Left>
      <Center>0.0 0.0 -0.17</Center>
      <okayAxis>1.0 0.0 0.0 </okayAxis>
      <showingAxis>0.0 0.0 -1.0</showingAxis>
      <palmAxis>0.0 -1.0 0.0</palmAxis>
    </Left>
  </Hands>
  <Wrists>
    <Right>
       <JointNb> 1 </JointNb>
       <JointsID> 12 </JointsID>
    </Right>
    <Left>
       <JointNb> 1 </JointNb>
       <JointsID> 25 </JointsID>
    </Left>
  </Wrists>
  <Arms>
    <Right>
        <UpperArmLength> 0.21 </UpperArmLength>
        <ForeArmLength> 0.25 </ForeArmLength>
        <JointNb> 7 </JointNb>
        <JointsID> 6 7 8 9 10 11 12 </JointsID>
    </Right>
    <Left>
        <UpperArmLength> 0.21 </UpperArmLength>
        <ForeArmLength> 0.25 </ForeArmLength>
        <JointNb> 7 </JointNb>
        <JointsID> 19 20 21 22 23 24 25 </JointsID>
    </Left>
  </Arms>
  <Head> 
       <JointNb> 0 </JointNb>
       <JointsID>  </JointsID>
  </Head>
  <Chest>
       <JointNb> 1 </JointNb>
       <JointsID> 28 </JointsID>
  </Chest>
</Humanoid>

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