| Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity | |
| right_hand_link,0.010035126340455,-0.00366835056360167,0.0582695212892126,0,0,0,0.0772404708059179,0.000136222578865527,5.22890614539027E-07,3.01644565381809E-06,0.00010133280150506,-1.20727087562308E-05,5.12106939039409E-05,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_link.STL,,MH2.25-V3.0-01R-1,base,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,, | |
| right_hand_ee_link,1.4529186126289E-19,-2.85196737334113E-18,0,0,0,0,5.65450977765344E-06,1.49608904533747E-11,5.76854918783085E-28,5.33110096152937E-28,6.36132349986012E-12,-2.37175435605063E-28,1.49608904533747E-11,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_ee_link.STL,0.988235294117647,0.737254901960784,0.517647058823529,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_ee_link.STL,,MH2.25-V3.0-13-2,h1,a0,right_hand_ee_joint,fixed,0,0,0.065,0,0,0,right_hand_link,0,0,0,,,,,,,0,0,,,, | |
| right_hand_back_link,-0.0140081519632461,-0.00149245332244742,-0.000647126026633069,0,0,0,2.02807066114746E-07,2.8655399358135E-10,-3.78582470558425E-13,1.58521027688715E-13,1.38631316902928E-10,1.37428044203342E-12,1.63565671491032E-10,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_back_link.STL,0.698039215686274,0.698039215686274,0.698039215686274,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_back_link.STL,,MH2.25-V3.0-02R-1,h1,a0,right_hand_back_joint,fixed,0,0,0.065,0,0,0,right_hand_link,0,0,0,,,,,,,0,0,,,, | |
| right_hand_thumb_bend_link,-0.00116534489100702,0.0144358799903649,5.40665183232092E-05,0,0,0,0.0036584646089849,4.68578095484499E-07,-2.39985871296329E-09,3.42361767103875E-10,2.00271654235268E-07,-9.96868311131937E-09,4.73722402176899E-07,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_thumb_bend_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_thumb_bend_link.STL,,MH2.25-V3.0-03R-1,rt1,b1,right_hand_thumb_bend_joint,revolute,0.0095,0.0228,0.0305,0,0,0,right_hand_link,0,0,-1,1.1,8.63,0,1.832,,,0,0,,,, | |
| right_hand_thumb_rota_link1,-0.00036176505273174,0.0287681485595387,0.00133929684947857,0,0,0,0.0308876879839101,9.76689717875336E-06,2.00651430763235E-06,-1.08185117651995E-08,3.75039603824303E-06,-7.76068478638435E-09,1.13619659539367E-05,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_thumb_rota_link1.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_thumb_rota_link1.STL,,MH2.25-V3.0-04R-1,rt2,b2,right_hand_thumb_rota_joint1,revolute,0.0083177,0.028599,-0.00178,0,0.2618,-0.0407,right_hand_thumb_bend_link,1,0,0,1.1,8.63,-0.698,1.745,,,0,0,,,, | |
| right_hand_thumb_rotaback_link1,0.00143342397772657,-0.0296289408961753,-0.00759117851370326,0,0,0,5.96904507997187E-08,1.45418120549933E-11,-1.6417585333758E-12,5.45249300894976E-13,1.50180554048301E-11,-1.42015537497952E-12,2.18957156687079E-11,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_thumb_rotaback_link1.STL,0.698039215686274,0.698039215686274,0.698039215686274,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_thumb_rotaback_link1.STL,,MH2.25-V3.0-05R-1,rt3,b3,right_hand_thumb_rotaback_joint1,fixed,0,0.0553000000000007,0,0,0,0,right_hand_thumb_rota_link1,0,0,0,,,,,,,0,0,,,, | |
| right_hand_thumb_rota_link2,-0.000881604281134662,0.0225339954987271,0.000614550644508979,0,0,0,0.0162723004780455,3.54410031060046E-06,3.03514040076112E-07,-7.84179813060931E-09,1.31453198141192E-06,9.14427706797512E-09,4.28243185040566E-06,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_thumb_rota_link2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_thumb_rota_link2.STL,,MH2.25-V3.0-06R-1,rt3,b3,right_hand_thumb_rota_joint2,revolute,0,0.0553,0,0,0,0,right_hand_thumb_rota_link1,1,0,0,0.4,14.38,0,1.745,,,0,0,,,, | |
| right_hand_thumb_rotaback_link2,-0.000532663554883375,-0.0258393181739458,-0.00924631111128287,0,0,0,3.52194162093346E-08,7.06364593909917E-12,3.77023368691692E-13,-5.04264847040442E-14,4.99163245780335E-12,4.27332949076132E-13,1.12541330731279E-11,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_thumb_rotaback_link2.STL,0.698039215686274,0.698039215686274,0.698039215686274,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_thumb_rotaback_link2.STL,,MH2.25-V3.0-07R-1,rt4,b4,right_hand_thumb_rotaback_joint2,fixed,0,0.0502276499414863,0,0,0,0,right_hand_thumb_rota_link2,0,0,0,,,,,,,0,0,,,, | |
| right_hand_thumb_rota_tip,1.82145964977565E-17,-2.77555756156289E-17,1.31838984174237E-16,0,0,0,5.65450977765345E-06,6.36132349986013E-12,1.00577255934585E-26,-2.12045811323408E-27,1.49608904533747E-11,2.16001595828399E-28,1.49608904533747E-11,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_thumb_rota_tip.STL,0.988235294117647,0.737254901960784,0.517647058823529,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_thumb_rota_tip.STL,,MH2.25-V3.0-13-3,rt4,b4,right_hand_thumb_rota_joint3,fixed,0,0.0502276499414863,0,0,0,0,right_hand_thumb_rota_link2,0,0,0,,,,,,,0,0,,,, | |
| right_hand_index_bend_link,-0.000715851164577249,0.000118997558760756,0.0111903014853532,0,0,0,0.0084323199404753,7.8933158875982E-07,-9.22849634312222E-10,-6.12774862815001E-10,8.79801957514404E-07,1.44292735624677E-09,4.276317007006E-07,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_index_bend_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_index_bend_link.STL,,MH2.25-V3.0-08-1,rif1,c1,right_hand_index_bend_joint,revolute,0.0065,0.0265,0.0899,0,0,0,right_hand_link,-1,0,0,0.4,14.38,-0.174,0.174,,,0,0,,,, | |
| right_hand_index_rota_link1,0.00063293051295399,0.00013300810657332,0.0355868719939061,0,0,0,0.0133643913290117,3.17675901479197E-06,-2.38132488765009E-09,-6.48656869161263E-08,3.3059242597407E-06,4.02252605660725E-08,6.01177937462994E-07,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_index_rota_link1.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_index_rota_link1.STL,,MH2.25-V3.0-20-2,rif2,c2,right_hand_index_joint1,revolute,0,0,0.0178,0,0,0,right_hand_index_bend_link,0,1,0,1.1,8.63,0,1.919,,,0,0,,,, | |
| right_hand_index_rotaback_link1,-0.0115948039989203,-0.000148034626475925,-0.0241234086564007,0,0,0,1.86553697777495E-08,5.38445586243786E-12,-7.1378238847359E-15,1.72370799104543E-13,5.02993890526991E-12,-6.91799912272905E-14,5.90796185517571E-13,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_index_rotaback_link1.STL,0.698039215686274,0.698039215686274,0.698039215686274,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_index_rotaback_link1.STL,,MH2.25-V3.0-10-2,rif3,c3,right_hand_index_rotaback_joint1,fixed,0,0,0.0557999999999955,0,0,0,right_hand_index_rota_link1,0,0,0,,,,,,,0,0,,,, | |
| right_hand_index_rota_link2,0.00119905190206782,-0.000248361661986104,0.0213789854478679,0,0,0,0.00686452036118575,1.04676034174023E-06,4.14854476395838E-09,3.45471669068628E-08,1.00366154230438E-06,2.81534228773765E-08,2.85700266317811E-07,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_index_rota_link2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_index_rota_link2.STL,,MH2.25-V3.0-11-2,rif3,c3,right_hand_index_joint2,revolute,0,0,0.0558,0,0,0,right_hand_index_rota_link1,0,1,0,0.4,14.38,0,1.919,,,0,0,,,, | |
| right_hand_index_rotaback_link2,-0.00758843721876551,0.00015795043857645,-0.0176655210856158,0,0,0,1.14812654431692E-08,1.25439855775805E-12,7.31454960840546E-15,9.24914678756815E-14,9.8943079518057E-13,-2.81814031103711E-14,3.86109183033101E-13,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_index_rotaback_link2.STL,0.698039215686274,0.698039215686274,0.698039215686274,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_index_rotaback_link2.STL,,MH2.25-V3.0-12-2,rif4,c4,right_hand_index_rotaback_joint2,fixed,0,0,0.0422482924089424,0,0,0,right_hand_index_rota_link2,0,0,0,,,,,,,0,0,,,, | |
| right_hand_index_rota_tip,7.13838710364456E-16,-3.46944695195361E-18,2.77555756156289E-17,0,0,0,5.65450977765344E-06,1.49608904533747E-11,3.41134552919836E-28,-9.93523361021439E-28,6.36132349986012E-12,-1.33053110041143E-23,1.49608904533747E-11,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_index_rota_tip.STL,0.988235294117647,0.737254901960784,0.517647058823529,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_index_rota_tip.STL,,MH2.25-V3.0-13-5,rif4,c4,right_hand_index_rota_joint3,fixed,0,0,0.0422482924089424,0,0,0,right_hand_index_rota_link2,0,0,0,,,,,,,0,0,,,, | |
| right_hand_mid_link1,0.000530417592106097,3.58049083658378E-05,0.033278467115721,0,0,0,0.0143714276805089,4.26829701084994E-06,-1.1448906519502E-09,-2.45678905173327E-08,4.37293541565043E-06,8.28615019182787E-08,6.71137965532478E-07,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_mid_link1.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_mid_link1.STL,,MH2.25-V3.0-09-1,rmf1,d1,right_hand_mid_joint1,revolute,0.0065,0.004,0.1082,0,0,0,right_hand_link,0,1,0,1.1,8.63,0,1.919,,,0,0,,,, | |
| right_hand_midback_link1,-0.0115948039977618,-0.000148034759331951,-0.0241234077138271,0,0,0,1.86553702393157E-08,5.38445588011653E-12,-7.1378100586645E-15,1.7237075645524E-13,5.02993887777172E-12,-6.91799872515858E-14,5.90796196219736E-13,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_midback_link1.STL,0.698039215686274,0.698039215686274,0.698039215686274,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_midback_link1.STL,,MH2.25-V3.0-10-1,rmf2,d2,right_hand_midback_joint1,fixed,0,0,0.0558,0,0,0,right_hand_mid_link1,0,0,0,,,,,,,0,0,,,, | |
| right_hand_mid_link2,0.00119905190206755,-0.000248361661996566,0.0213789854478682,0,0,0,0.00686452036118557,1.04676034174024E-06,4.14854476396738E-09,3.4547166906851E-08,1.00366154230438E-06,2.81534228773826E-08,2.85700266317796E-07,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_mid_link2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_mid_link2.STL,,MH2.25-V3.0-11-1,rmf2,d2,right_hand_mid_joint2,revolute,0,0,0.0558,0,0,0,right_hand_mid_link1,0,1,0,0.4,14.38,0,1.919,,,0,0,,,, | |
| right_hand_midback_link2,-0.00758843721876527,0.000157950438608734,-0.0176655210856121,0,0,0,1.14812654432192E-08,1.25439855777044E-12,7.31454960737358E-15,9.24914678773806E-14,9.89430795193827E-13,-2.81814031148807E-14,3.86109183032776E-13,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_midback_link2.STL,0.698039215686274,0.698039215686274,0.698039215686274,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_midback_link2.STL,,MH2.25-V3.0-12-1,rmf3,d3,right_hand_midback_joint2,fixed,0,0,0.0422482924089416,0,0,0,right_hand_mid_link2,0,0,0,,,,,,,0,0,,,, | |
| right_hand_mid_tip,6.99093560818653E-16,2.6104986228237E-14,8.32667268468867E-16,0,0,0,5.65450977765344E-06,1.49608904533747E-11,-1.79038923821571E-26,-1.1577643502308E-28,6.36132349986012E-12,-2.76170709947623E-24,1.49608904533747E-11,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_mid_tip.STL,0.988235294117647,0.737254901960784,0.517647058823529,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_mid_tip.STL,,MH2.25-V3.0-13-4,rmf3,d3,right_hand_mid_joint3,fixed,0,0,0.042248,0,0,0,right_hand_mid_link2,0,0,0,,,,,,,0,0,,,, | |
| right_hand_ring_link1,0.000530417592105675,3.58049083603318E-05,0.0332784671157224,0,0,0,0.0143714276805089,4.26829701084995E-06,-1.14489065194233E-09,-2.45678905173324E-08,4.37293541565049E-06,8.28615019170959E-08,6.71137965532426E-07,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_ring_link1.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_ring_link1.STL,,MH2.25-V3.0-09-3,rrf1,e1,right_hand_ring_joint1,revolute,0.0065,-0.016,0.1052,0,0,0,right_hand_link,0,1,0,1.1,8.63,0,1.919,,,0,0,,,, | |
| right_hand_ringback_link1,-0.0115948040042931,-0.000148034878525431,-0.0241234080984737,0,0,0,1.86553700195532E-08,5.38445586621715E-12,-7.13780863255758E-15,1.7237076564219E-13,5.02993888343894E-12,-6.91800182260157E-14,5.90796188401347E-13,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_ringback_link1.STL,0.698039215686274,0.698039215686274,0.698039215686274,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_ringback_link1.STL,,MH2.25-V3.0-10-3,rrf2,e2,right_hand_ringback_joint1,fixed,0,0,0.0558,0,0,0,right_hand_ring_link1,0,0,0,,,,,,,0,0,,,, | |
| right_hand_ring_link2,0.00119905192644367,-0.000248361559624762,0.0213789854805378,0,0,0,0.00686452029493749,1.04676035016106E-06,4.14854285829974E-09,3.45471663496652E-08,1.0036615556731E-06,2.81534270032891E-08,2.85700260456274E-07,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_ring_link2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_ring_link2.STL,,MH2.25-V3.0-11-3,rrf2,e2,right_hand_ring_joint2,revolute,0,0,0.0558,0,0,0,right_hand_ring_link1,0,1,0,0.4,14.38,0,1.919,,,0,0,,,, | |
| right_hand_ringback_link2,-0.00758843721876704,0.000157950438643945,-0.0176655210856309,0,0,0,1.14812654431905E-08,1.25439855776236E-12,7.31454960907198E-15,9.24914678766784E-14,9.89430795185426E-13,-2.81814031073219E-14,3.86109183032883E-13,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_ringback_link2.STL,0.698039215686274,0.698039215686274,0.698039215686274,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_ringback_link2.STL,,MH2.25-V3.0-12-3,rrf3,e3,right_hand_ringback_joint2,fixed,0,0,0.0422482924089404,0,0,0,right_hand_ring_link2,0,0,0,,,,,,,0,0,,,, | |
| right_hand_ring_tip,3.0444397003393E-16,-9.71445146547012E-17,0,0,0,0,5.65450977765344E-06,1.49608904533747E-11,6.24926861483796E-27,-5.76189699882469E-28,6.36132349986013E-12,1.31292392935875E-27,1.49608904533747E-11,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_ring_tip.STL,0.988235294117647,0.737254901960784,0.517647058823529,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_ring_tip.STL,,MH2.25-V3.0-13-6,rrf3,e3,right_hand_ring_joint3,fixed,0,0,0.0422482924089404,0,0,0,right_hand_ring_link2,0,0,0,,,,,,,0,0,,,, | |
| right_hand_pinky_link1,0.00053041759210553,3.58049083602902E-05,0.0332784671157224,0,0,0,0.0143714276805089,4.26829701084996E-06,-1.14489065194207E-09,-2.45678905173337E-08,4.3729354156505E-06,8.28615019170855E-08,6.71137965532427E-07,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_pinky_link1.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_pinky_link1.STL,,MH2.25-V3.0-09-4,rlf1,f1,right_hand_pinky_joint1,revolute,0.0065,-0.036,0.1022,0,0,0,right_hand_link,0,1,0,1.1,8.63,0,1.919,,,0,0,,,, | |
| right_hand_pinkyback_link1,-0.0115948039527258,-0.000148033943928788,-0.0241234090857975,0,0,0,1.86553673064884E-08,5.3844557221711E-12,-7.13781906688164E-15,1.72370786177478E-13,5.02993882108578E-12,-6.91799293352786E-14,5.90796121967393E-13,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_pinkyback_link1.STL,0.698039215686274,0.698039215686274,0.698039215686274,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_pinkyback_link1.STL,,MH2.25-V3.0-10-4,rlf2,f2,right_hand_pinkyback_joint1,fixed,0,0,0.0558000000000001,0,0,0,right_hand_pinky_link1,0,0,0,,,,,,,0,0,,,, | |
| right_hand_pinky_link2,0.001199051902067,-0.000248361662016403,0.0213789854478657,0,0,0,0.00686452036118538,1.04676034174018E-06,4.1485447639488E-09,3.45471669068511E-08,1.00366154230435E-06,2.81534228771535E-08,2.85700266317775E-07,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_pinky_link2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_pinky_link2.STL,,MH2.25-V3.0-11-4,rlf2,f2,right_hand_pinky_joint2,revolute,0,0,0.0558,0,0,0,right_hand_pinky_link1,0,1,0,1.4,14.38,0,1.919,,,0,0,,,, | |
| right_hand_pinkyback_link2,-0.00758843721876425,0.000157950438630629,-0.0176655210855414,0,0,0,1.14812654432539E-08,1.25439855778099E-12,7.31454960873121E-15,9.24914678776767E-14,9.89430795202555E-13,-2.81814031148489E-14,3.86109183034306E-13,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_pinkyback_link2.STL,0.698039215686274,0.698039215686274,0.698039215686274,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_pinkyback_link2.STL,,MH2.25-V3.0-12-4,rlf3,f3,right_hand_pinkyback_joint2,fixed,0,0,0.0422482924089405,0,0,0,right_hand_pinky_link2,0,0,0,,,,,,,0,0,,,, | |
| right_hand_pinky_tip,1.17961196366423E-16,-2.91433543964104E-16,0,0,0,0,5.65450977765345E-06,1.49608904533748E-11,1.44191437114383E-26,-3.01557226106722E-28,6.36132349986013E-12,5.84247809788107E-27,1.49608904533748E-11,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_pinky_tip.STL,0.988235294117647,0.737254901960784,0.517647058823529,1,0,0,0,0,0,0,package://xhand_right/meshes/right_hand_pinky_tip.STL,,MH2.25-V3.0-13-7,rlf3,f3,right_hand_pinky_joint3,fixed,0,0,0.0422482924089405,0,0,0,right_hand_pinky_link2,0,0,0,,,,,,,0,0,,,, | |