mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
826 lines
23 KiB
C
826 lines
23 KiB
C
#ifndef URDF_SAMPLES_H
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#define URDF_SAMPLES_H
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#define MSTRINGIFY(A) #A
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const char* urdf_char2 = MSTRINGIFY(
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<robot name="test_robot">
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<link name="link1" />
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<link name="link2" />
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<link name="link3" />
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<link name="link4" />
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<joint name="joint1" type="continuous">
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<parent link="link1"/>
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<child link="link2"/>
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</joint>
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<joint name="joint2" type="continuous">
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<parent link="link1"/>
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<child link="link3"/>
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</joint>
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<joint name="joint3" type="continuous">
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<parent link="link3"/>
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<child link="link4"/>
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</joint>
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</robot>);
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const char* urdf_char1 = MSTRINGIFY(
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<?xml version="1.0"?>
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<robot name="myfirst">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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</visual>
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</link>
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</robot>
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);
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const char* urdf_char3 = MSTRINGIFY(<?xml version="1.0"?>
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<robot name="multipleshapes">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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</visual>
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</link>
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<link name="right_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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</visual>
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</link>
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<joint name="base_to_right_leg" type="fixed">
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<parent link="base_link"/>
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<child link="right_leg"/>
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</joint>
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</robot>);
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const char* urdf_char4 = MSTRINGIFY(
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<?xml version="1.0"?>
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<robot name="materials">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 .8 1"/>
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</material>
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</visual>
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</link>
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<link name="right_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="base_to_right_leg" type="fixed">
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<parent link="base_link"/>
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<child link="right_leg"/>
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<origin xyz="0.22 0 .25"/>
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</joint>
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<link name="left_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white"/>
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</visual>
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</link>
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<joint name="base_to_left_leg" type="fixed">
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<parent link="base_link"/>
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<child link="left_leg"/>
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<origin xyz="-0.22 0 .25"/>
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</joint>
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<link name="head">
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<visual>
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<geometry>
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<sphere radius="0.2"/>
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</geometry>
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<material name="white"/>
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</visual>
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</link>
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<joint name="head_swivel" type="fixed">
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<parent link="base_link"/>
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<child link="head"/>
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<origin xyz="0 0 0.3"/>
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</joint>
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<link name="box">
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<visual>
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<geometry>
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<box size=".08 .08 .08"/>
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</geometry>
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<material name="blue"/>
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</visual>
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</link>
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<joint name="tobox" type="fixed">
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<parent link="head"/>
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<child link="box"/>
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<origin xyz="0 0.1414 0.1414"/>
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</joint>
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</robot>
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);
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const char* urdf_char_r2d2 = MSTRINGIFY(
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<?xml version="1.0"?>
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<robot name="visual">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 .8 1"/>
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</material>
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</visual>
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</link>
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<link name="right_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="base_to_right_leg" type="fixed">
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<parent link="base_link"/>
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<child link="right_leg"/>
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<origin xyz="0.22 0 .25"/>
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</joint>
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<link name="right_base">
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<visual>
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<geometry>
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<box size=".1 0.4 .1"/>
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</geometry>
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<material name="white"/>
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</visual>
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</link>
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<joint name="right_base_joint" type="fixed">
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<parent link="right_leg"/>
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<child link="right_base"/>
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<origin xyz="0 0 -0.6"/>
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</joint>
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<link name="right_front_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black">
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<color rgba="0 0 0 1"/>
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</material>
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</visual>
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</link>
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<joint name="right_front_wheel_joint" type="fixed">
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<parent link="right_base"/>
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<child link="right_front_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
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</joint>
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<link name="right_back_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black"/>
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</visual>
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</link>
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<joint name="right_back_wheel_joint" type="fixed">
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<parent link="right_base"/>
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<child link="right_back_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
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</joint>
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<link name="left_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white"/>
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</visual>
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</link>
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<joint name="base_to_left_leg" type="fixed">
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<parent link="base_link"/>
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<child link="left_leg"/>
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<origin xyz="-0.22 0 .25"/>
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</joint>
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<link name="left_base">
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<visual>
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<geometry>
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<box size=".1 0.4 .1"/>
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</geometry>
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<material name="white"/>
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</visual>
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</link>
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<joint name="left_base_joint" type="fixed">
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<parent link="left_leg"/>
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<child link="left_base"/>
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<origin xyz="0 0 -0.6"/>
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</joint>
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<link name="left_front_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black"/>
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</visual>
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</link>
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<joint name="left_front_wheel_joint" type="fixed">
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<parent link="left_base"/>
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<child link="left_front_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
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</joint>
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<link name="left_back_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black"/>
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</visual>
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</link>
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<joint name="left_back_wheel_joint" type="fixed">
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<parent link="left_base"/>
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<child link="left_back_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
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</joint>
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<joint name="gripper_extension" type="fixed">
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<parent link="base_link"/>
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<child link="gripper_pole"/>
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<origin rpy="0 0 1.57075" xyz="0 0.19 .2"/>
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</joint>
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<link name="gripper_pole">
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<visual>
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<geometry>
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<cylinder length="0.2" radius=".01"/>
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</geometry>
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<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
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<material name="Gray">
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<color rgba=".7 .7 .7 1"/>
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</material>
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</visual>
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</link>
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<joint name="left_gripper_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
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<parent link="gripper_pole"/>
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<child link="left_gripper"/>
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</joint>
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<link name="left_gripper">
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<visual>
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<origin rpy="0.0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
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</geometry>
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</visual>
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</link>
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<joint name="left_tip_joint" type="fixed">
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<parent link="left_gripper"/>
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<child link="left_tip"/>
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</joint>
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<link name="left_tip">
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<visual>
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<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
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<geometry>
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<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
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</geometry>
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</visual>
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</link>
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<joint name="right_gripper_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
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<parent link="gripper_pole"/>
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<child link="right_gripper"/>
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</joint>
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<link name="right_gripper">
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<visual>
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<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
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</geometry>
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</visual>
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</link>
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<joint name="right_tip_joint" type="fixed">
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<parent link="right_gripper"/>
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<child link="right_tip"/>
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</joint>
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<link name="right_tip">
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<visual>
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<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
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<geometry>
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<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
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</geometry>
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</visual>
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</link>
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<link name="head">
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<visual>
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<geometry>
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<sphere radius="0.2"/>
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</geometry>
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<material name="white"/>
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</visual>
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</link>
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<joint name="head_swivel" type="fixed">
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<parent link="base_link"/>
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<child link="head"/>
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<origin xyz="0 0 0.3"/>
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</joint>
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<link name="box">
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<visual>
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<geometry>
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<box size=".08 .08 .08"/>
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</geometry>
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<material name="blue"/>
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</visual>
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</link>
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<joint name="tobox" type="fixed">
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<parent link="head"/>
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<child link="box"/>
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<origin xyz="0 0.1414 0.1414"/>
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</joint>
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</robot>
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);
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const char* urdf_char = MSTRINGIFY(
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<?xml version="1.0"?>
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<robot name="physics">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 .8 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<link name="right_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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</collision>
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<inertial>
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<mass value="10"/>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="base_to_right_leg" type="fixed">
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<parent link="base_link"/>
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<child link="right_leg"/>
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<origin xyz="0.22 0 .25"/>
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</joint>
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<link name="right_base">
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<visual>
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<geometry>
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<box size=".1 0.4 .1"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<box size=".1 0.4 .1"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="right_base_joint" type="fixed">
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<parent link="right_leg"/>
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<child link="right_base"/>
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<origin xyz="0 0 -0.6"/>
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</joint>
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<link name="right_front_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black">
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<color rgba="0 0 0 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="right_front_wheel_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="right_base"/>
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<child link="right_front_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="right_back_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="right_back_wheel_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="right_base"/>
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<child link="right_back_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="left_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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</collision>
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<inertial>
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<mass value="10"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="base_to_left_leg" type="fixed">
|
|
<parent link="base_link"/>
|
|
<child link="left_leg"/>
|
|
<origin xyz="-0.22 0 .25"/>
|
|
</joint>
|
|
|
|
<link name="left_base">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".1 0.4 .1"/>
|
|
</geometry>
|
|
<material name="white"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".1 0.4 .1"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="10"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="left_base_joint" type="fixed">
|
|
<parent link="left_leg"/>
|
|
<child link="left_base"/>
|
|
<origin xyz="0 0 -0.6"/>
|
|
</joint>
|
|
|
|
<link name="left_front_wheel">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length=".1" radius="0.035"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length=".1" radius="0.035"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="1"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="left_front_wheel_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="left_base"/>
|
|
<child link="left_front_wheel"/>
|
|
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="left_back_wheel">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length=".1" radius="0.035"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length=".1" radius="0.035"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="1"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="left_back_wheel_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="left_base"/>
|
|
<child link="left_back_wheel"/>
|
|
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<joint name="gripper_extension" type="prismatic">
|
|
<parent link="base_link"/>
|
|
<child link="gripper_pole"/>
|
|
<limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>
|
|
<origin rpy="0 0 1.57075" xyz="0 0.19 .2"/>
|
|
</joint>
|
|
|
|
<link name="gripper_pole">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.2" radius=".01"/>
|
|
</geometry>
|
|
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
|
|
<material name="Gray">
|
|
<color rgba=".7 .7 .7 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="0.2" radius=".01"/>
|
|
</geometry>
|
|
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="left_gripper_joint" type="revolute">
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
|
|
<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
|
|
<parent link="gripper_pole"/>
|
|
<child link="left_gripper"/>
|
|
</joint>
|
|
|
|
<link name="left_gripper">
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="l_finger.stl"/>
|
|
</geometry>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="l_finger.stl"/>
|
|
</geometry>
|
|
<origin rpy="0.0 0 0" xyz="0 0 0"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="left_tip_joint" type="fixed">
|
|
<parent link="left_gripper"/>
|
|
<child link="left_tip"/>
|
|
</joint>
|
|
|
|
<link name="left_tip">
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
|
|
<geometry>
|
|
<mesh filename="l_finger_tip.stl"/>
|
|
</geometry>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="l_finger_tip.stl"/>
|
|
</geometry>
|
|
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="right_gripper_joint" type="revolute">
|
|
<axis xyz="0 0 -1"/>
|
|
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
|
|
<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
|
|
<parent link="gripper_pole"/>
|
|
<child link="right_gripper"/>
|
|
</joint>
|
|
|
|
<link name="right_gripper">
|
|
<visual>
|
|
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="l_finger.stl"/>
|
|
</geometry>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="l_finger.stl"/>
|
|
</geometry>
|
|
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="right_tip_joint" type="fixed">
|
|
<parent link="right_gripper"/>
|
|
<child link="right_tip"/>
|
|
</joint>
|
|
|
|
<link name="right_tip">
|
|
<visual>
|
|
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
|
|
<geometry>
|
|
<mesh filename="l_finger_tip.stl"/>
|
|
</geometry>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="l_finger_tip.stl"/>
|
|
</geometry>
|
|
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<link name="head">
|
|
<visual>
|
|
<geometry>
|
|
<sphere radius="0.2"/>
|
|
</geometry>
|
|
<material name="white"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<sphere radius="0.2"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="10"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="head_swivel" type="continuous">
|
|
<parent link="base_link"/>
|
|
<child link="head"/>
|
|
<axis xyz="0 0 1"/>
|
|
<origin xyz="0 0 0.3"/>
|
|
</joint>
|
|
|
|
<link name="box">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".08 .08 .08"/>
|
|
</geometry>
|
|
<material name="blue"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".08 .08 .08"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="1"/>
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="tobox" type="fixed">
|
|
<parent link="head"/>
|
|
<child link="box"/>
|
|
<origin xyz="0 0.1414 0.1414"/>
|
|
</joint>
|
|
|
|
</robot>
|
|
|
|
|
|
);
|
|
|
|
#endif //URDF_SAMPLES_H
|
|
|