<robot name="LittleSophia">
  <link name="Little_Sophia_Arm_Left">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Arm_Left.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Torso_to_Little_Sophia_Arm_Left" type="fixed">
    <parent link="Little_Sophia_Torso"/>
    <child link="Little_Sophia_Arm_Left"/>
    <origin xyz="38.0 8.5 47.0" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Arm_Right">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Arm_Right.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Torso_to_Little_Sophia_Arm_Right" type="fixed">
    <parent link="Little_Sophia_Torso"/>
    <child link="Little_Sophia_Arm_Right"/>
    <origin xyz="-38.0 8.5 47.0" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Brow_Left">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Brow_Left.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Face_to_Little_Sophia_Brow_Left" type="fixed">
    <parent link="Little_Sophia_Face"/>
    <child link="Little_Sophia_Brow_Left"/>
    <origin xyz="15.0 12.0 83.23999786376953" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Brow_Right">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Brow_Right.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Face_to_Little_Sophia_Brow_Right" type="fixed">
    <parent link="Little_Sophia_Face"/>
    <child link="Little_Sophia_Brow_Right"/>
    <origin xyz="-15.0 12.0 83.23999786376953" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Eye_Left">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Eye_Left.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Face_to_Little_Sophia_Eye_Left" type="fixed">
    <parent link="Little_Sophia_Face"/>
    <child link="Little_Sophia_Eye_Left"/>
    <origin xyz="20.299999237060547 -15.0 71.23999786376953" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Eye_Right">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Eye_Right.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Face_to_Little_Sophia_Eye_Right" type="fixed">
    <parent link="Little_Sophia_Face"/>
    <child link="Little_Sophia_Eye_Right"/>
    <origin xyz="-18.869998931884766 -15.0 71.23999786376953" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Eyelid_Lower">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Eyelid_Lower.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Face_to_Little_Sophia_Eyelid_Lower" type="fixed">
    <parent link="Little_Sophia_Face"/>
    <child link="Little_Sophia_Eyelid_Lower"/>
    <origin xyz="1.0 -17.0 61.23999786376953" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Eyelid_Upper">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Eyelid_Upper.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Face_to_Little_Sophia_Eyelid_Upper" type="fixed">
    <parent link="Little_Sophia_Face"/>
    <child link="Little_Sophia_Eyelid_Upper"/>
    <origin xyz="1.0 -17.0 61.23999786376953" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Face">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Face.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Torso_to_Little_Sophia_Face" type="fixed">
    <parent link="Little_Sophia_Torso"/>
    <child link="Little_Sophia_Face"/>
    <origin xyz="0.0 0.0 66.76000213623047" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Foot_Left">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Foot_Left.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Lower_Leg_Right_to_Little_Sophia_Foot_Left" type="fixed">
    <parent link="Little_Sophia_Lower_Leg_Right"/>
    <child link="Little_Sophia_Foot_Left"/>
    <origin xyz="4.5 5.400000095367432 -43.0" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Foot_Left_Outer">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Foot_Left_Outer.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Foot_Left_to_Little_Sophia_Foot_Left_Outer" type="fixed">
    <parent link="Little_Sophia_Foot_Left"/>
    <child link="Little_Sophia_Foot_Left_Outer"/>
    <origin xyz="20.5 33.5 -19.0" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Foot_Right">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Foot_Right.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Lower_Leg_Left_to_Little_Sophia_Foot_Right" type="fixed">
    <parent link="Little_Sophia_Lower_Leg_Left"/>
    <child link="Little_Sophia_Foot_Right"/>
    <origin xyz="-3.5 5.400000095367432 -43.0" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Foot_Right_Outer">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Foot_Right_Outer.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Foot_Right_to_Little_Sophia_Foot_Right_Outer" type="fixed">
    <parent link="Little_Sophia_Foot_Right"/>
    <child link="Little_Sophia_Foot_Right_Outer"/>
    <origin xyz="-20.5 33.5 -19.0" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Hip_Left">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Hip_Left.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Torso_to_Little_Sophia_Hip_Left" type="fixed">
    <parent link="Little_Sophia_Torso"/>
    <child link="Little_Sophia_Hip_Left"/>
    <origin xyz="28.0 1.0 -21.0" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Hip_Right">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Hip_Right.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Torso_to_Little_Sophia_Hip_Right" type="fixed">
    <parent link="Little_Sophia_Torso"/>
    <child link="Little_Sophia_Hip_Right"/>
    <origin xyz="-24.5 1.0 -21.0" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Lower_Leg_Left">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Lower_Leg_Left.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Upper_Leg_Right_to_Little_Sophia_Lower_Leg_Left" type="fixed">
    <parent link="Little_Sophia_Upper_Leg_Right"/>
    <child link="Little_Sophia_Lower_Leg_Left"/>
    <origin xyz="-0.5 -9.399999618530273 -58.0" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Lower_Leg_Right">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Lower_Leg_Right.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Upper_Leg_Left_to_Little_Sophia_Lower_Leg_Right" type="fixed">
    <parent link="Little_Sophia_Upper_Leg_Left"/>
    <child link="Little_Sophia_Lower_Leg_Right"/>
    <origin xyz="1.0 -9.399999618530273 -58.0" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Smile_Left">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Smile_Left.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Face_to_Little_Sophia_Smile_Left" type="fixed">
    <parent link="Little_Sophia_Face"/>
    <child link="Little_Sophia_Smile_Left"/>
    <origin xyz="-22.0 6.5 36.23999786376953" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Smile_Right">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Smile_Right.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Face_to_Little_Sophia_Smile_Right" type="fixed">
    <parent link="Little_Sophia_Face"/>
    <child link="Little_Sophia_Smile_Right"/>
    <origin xyz="22.0 6.5 36.23999786376953" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Teeth_Lower">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Teeth_Lower.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Face_to_Little_Sophia_Teeth_Lower" type="fixed">
    <parent link="Little_Sophia_Face"/>
    <child link="Little_Sophia_Teeth_Lower"/>
    <origin xyz="1.0 -10.0 36.23999786376953" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Teeth_Upper">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Teeth_Upper.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Face_to_Little_Sophia_Teeth_Upper" type="fixed">
    <parent link="Little_Sophia_Face"/>
    <child link="Little_Sophia_Teeth_Upper"/>
    <origin xyz="1.0 -10.0 36.23999786376953" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Torso">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Torso.obj"/>
      </geometry>
    </visual>
  </link>
  <link name="Little_Sophia_Upper_Leg_Left">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Upper_Leg_Left.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Hip_Left_to_Little_Sophia_Upper_Leg_Left" type="fixed">
    <parent link="Little_Sophia_Hip_Left"/>
    <child link="Little_Sophia_Upper_Leg_Left"/>
    <origin xyz="1.0 1.0 -21.0" rpy="0 0 0"/>
  </joint>
  <link name="Little_Sophia_Upper_Leg_Right">
    <visual>
      <geometry>
        <mesh filename="meshes/Little_Sophia_Upper_Leg_Right.obj"/>
      </geometry>
    </visual>
  </link>
  <joint name="Little_Sophia_Hip_Right_to_Little_Sophia_Upper_Leg_Right" type="fixed">
    <parent link="Little_Sophia_Hip_Right"/>
    <child link="Little_Sophia_Upper_Leg_Right"/>
    <origin xyz="0.5 1.0 -21.0" rpy="0 0 0"/>
  </joint>
</robot>