mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
4db6fa9e29
added test urdf files for minitaur with all fixed joints, or fixed knees. added some stiffness/damping to minitaur legs (testing) tiny_obj_loader, don't crash on invalid texture coordinates btMultiBodyConstraintSolver: sweep back and forward to reduce asymmetry
930 lines
26 KiB
XML
930 lines
26 KiB
XML
<?xml version="0.0" ?>
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<!-- ======================================================================= -->
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<!--LICENSE: -->
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<!--Copyright (c) 2017, Erwin Coumans -->
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<!--Google Inc. -->
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<!--All rights reserved. -->
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<!-- -->
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<!--Redistribution and use in source and binary forms, with or without -->
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<!--modification, are permitted provided that the following conditions are -->
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<!--met: -->
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<!-- -->
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<!--1. Redistributions or derived work must retain this copyright notice, -->
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<!-- this list of conditions and the following disclaimer. -->
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<!-- -->
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<!--2. Redistributions in binary form must reproduce the above copyright -->
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<!-- notice, this list of conditions and the following disclaimer in the -->
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<!-- documentation and/or other materials provided with the distribution. -->
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<!-- -->
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<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
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<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
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<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
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<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
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<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
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<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
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<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
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<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
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<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
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<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
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<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
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<robot name="quadruped">
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<link name="base_chassis_link">
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<visual>
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<geometry>
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<box size=".33 0.14 .07"/>
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</geometry>
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<material name="black">
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<color rgba="0.3 0.3 0.3 1"/>
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0 0.10 0"/>
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<geometry>
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<box size=".17 0.10 .05"/>
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</geometry>
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<material name="black">
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<color rgba="0.3 0.3 0.3 1"/>
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</material>
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</visual>
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<visual>
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<origin rpy="0 0 0" xyz="0 -0.10 0"/>
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<geometry>
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<box size=".17 0.10 .05"/>
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</geometry>
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<material name="black">
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<color rgba="0.3 0.3 0.3 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=".34 0.14 .07"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0 0.10 0"/>
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<geometry>
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<box size=".17 0.10 .05"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0 -0.10 0"/>
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<geometry>
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<box size=".17 0.10 .05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="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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<link name="chassis_right">
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<visual>
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<origin rpy="0 0 0" xyz="0 0.035 0"/>
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<geometry>
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<box size=".34 0.01 .04"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material> </visual>
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<visual>
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<origin rpy="0 0 0" xyz="0 -0.035 0"/>
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<geometry>
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<box size=".34 0.01 .04"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material> </visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0.035 0"/>
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<geometry>
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<box size=".34 0.01 .04"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0 -0.035 0"/>
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<geometry>
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<box size=".34 0.01 .04"/>
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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="chassis_right_center" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="chassis_right"/>
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<origin rpy="-0.0872665 0 0" xyz="0.0 -0.10 0.0"/>
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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="chassis_left">
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<visual>
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<origin rpy="0 0 0" xyz="0 0.035 0"/>
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<geometry>
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<box size=".34 0.01 .04"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material> </visual>
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<visual>
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<origin rpy="0 0 0" xyz="0 -0.035 0"/>
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<geometry>
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<box size=".34 0.01 .04"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 1"/>
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</material> </visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0.035 0"/>
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<geometry>
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<box size=".34 0.01 .04"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0 -0.035 0"/>
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<geometry>
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<box size=".34 0.01 .04"/>
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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="chassis_left_center" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="base_chassis_link"/>
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<child link="chassis_left"/>
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<origin rpy="0.0872665 0 0" xyz="0.0 0.10 0.0"/>
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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="motor_front_rightR_link">
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<visual>
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<geometry>
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<mesh filename="tmotor3.obj" scale="1 1 1"/>
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</geometry>
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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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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.25"/>
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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="motor_front_rightR_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis_right"/>
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<child link="motor_front_rightR_link"/>
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<origin rpy="1.57075 0 0" xyz="0.21 -0.025 0"/>
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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="motor_front_rightL_link">
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<visual>
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<geometry>
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<mesh filename="tmotor3.obj" scale="1 1 1"/>
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</geometry>
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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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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.25"/>
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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="motor_front_rightL_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis_right"/>
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<child link="motor_front_rightL_link"/>
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<origin rpy="1.57075 0 3.141592" xyz="0.21 0.04 0"/>
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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="motor_front_leftR_link">
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<visual>
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<geometry>
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<mesh filename="tmotor3.obj" scale="1 1 1"/>
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</geometry>
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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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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.25"/>
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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="motor_front_leftR_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis_left"/>
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<child link="motor_front_leftR_link"/>
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<origin rpy="1.57075 0 3.141592" xyz="0.21 0.025 0"/>
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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="motor_front_leftL_link">
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<visual>
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<geometry>
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<mesh filename="tmotor3.obj" scale="1 1 1"/>
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</geometry>
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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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<inertial>
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<mass value="0.25"/>
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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="motor_front_leftL_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis_left"/>
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<child link="motor_front_leftL_link"/>
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<origin rpy="1.57075 0 0" xyz="0.21 -0.04 0"/>
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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="motor_back_rightR_link">
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<visual>
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<geometry>
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<mesh filename="tmotor3.obj" scale="1 1 1"/>
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</geometry>
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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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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.25"/>
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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="motor_back_rightR_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis_right"/>
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<child link="motor_back_rightR_link"/>
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<origin rpy="1.57075 0 0" xyz="-0.21 -0.025 0"/>
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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="motor_back_rightL_link">
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<visual>
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<geometry>
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<mesh filename="tmotor3.obj" scale="1 1 1"/>
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</geometry>
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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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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.25"/>
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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="motor_back_rightL_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis_right"/>
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<child link="motor_back_rightL_link"/>
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<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.04 0"/>
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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="motor_back_leftR_link">
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<visual>
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<geometry>
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<mesh filename="tmotor3.obj" scale="1 1 1"/>
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</geometry>
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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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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.25"/>
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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="motor_back_leftR_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis_left"/>
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<child link="motor_back_leftR_link"/>
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<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.025 0"/>
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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="motor_back_leftL_link">
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<visual>
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<geometry>
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<mesh filename="tmotor3.obj" scale="1 1 1"/>
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</geometry>
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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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<cylinder length="0.026" radius="0.0434"/>
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</geometry>
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</collision>
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<inertial>
|
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<mass value="0.25"/>
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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="motor_back_leftL_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="chassis_left"/>
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<child link="motor_back_leftL_link"/>
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<origin rpy="1.57075 0 0" xyz="-0.21 -0.04 0"/>
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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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|
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<link name="upper_leg_front_rightR_link">
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|
<visual>
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|
<geometry>
|
|
<box size=".01 0.01 .11"/>
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</geometry>
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<material name="grey">
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<color rgba="0.65 0.65 0.75 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=".01 0.01 .11"/>
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</geometry>
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</collision>
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<inertial>
|
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<mass value="0.05"/>
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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="hip_front_rightR_link" type="fixed">
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<axis xyz="0 0 1"/>
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<parent link="motor_front_rightR_link"/>
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<child link="upper_leg_front_rightR_link"/>
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<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
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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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|
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<link name="lower_leg_front_rightR_link">
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<contact>
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<stiffness value="10000"/>
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<damping value="10"/>
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<lateral_friction value="1"/>
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</contact>
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|
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<visual>
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<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
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|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
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|
<geometry>
|
|
<box size=".01 0.01 .2"/>
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|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
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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="knee_front_rightR_link" type="fixed">
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<axis xyz="0 1 0"/>
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<parent link="upper_leg_front_rightR_link"/>
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<child link="lower_leg_front_rightR_link"/>
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<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
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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="upper_leg_front_rightL_link">
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|
<visual>
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|
<geometry>
|
|
<box size=".01 0.01 .11"/>
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|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
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|
</material>
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|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</collision>
|
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<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="motor_front_rightL_link" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_front_rightL_link"/>
|
|
<child link="upper_leg_front_rightL_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="lower_leg_front_rightL_link">
|
|
<contact>
|
|
<stiffness value="10000"/>
|
|
<damping value="10"/>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .198"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .198"/>
|
|
</geometry>
|
|
</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="knee_front_rightL_link" type="fixed">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_front_rightL_link"/>
|
|
<child link="lower_leg_front_rightL_link"/>
|
|
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="upper_leg_front_leftR_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</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="hip_front_leftR_link" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_front_leftR_link"/>
|
|
<child link="upper_leg_front_leftR_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="lower_leg_front_leftR_link">
|
|
<contact>
|
|
<stiffness value="10000"/>
|
|
<damping value="10"/>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
|
|
<visual>
|
|
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
</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="knee_front_leftR_link" type="fixed">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_front_leftR_link"/>
|
|
<child link="lower_leg_front_leftR_link"/>
|
|
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
|
|
<link name="upper_leg_front_leftL_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</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="motor_front_leftL_link" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_front_leftL_link"/>
|
|
<child link="upper_leg_front_leftL_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="lower_leg_front_leftL_link">
|
|
<contact>
|
|
<stiffness value="10000"/>
|
|
<damping value="10"/>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
|
|
<visual>
|
|
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .198"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .198"/>
|
|
</geometry>
|
|
</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="knee_front_leftL_link" type="fixed">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_front_leftL_link"/>
|
|
<child link="lower_leg_front_leftL_link"/>
|
|
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="upper_leg_back_rightR_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</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="hip_rightR_link" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_back_rightR_link"/>
|
|
<child link="upper_leg_back_rightR_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="lower_leg_back_rightR_link">
|
|
<contact>
|
|
<stiffness value="10000"/>
|
|
<damping value="10"/>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2032"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2032"/>
|
|
</geometry>
|
|
</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="knee_back_rightR_link" type="fixed">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_back_rightR_link"/>
|
|
<child link="lower_leg_back_rightR_link"/>
|
|
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="upper_leg_back_rightL_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</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="motor_back_rightL_link" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_back_rightL_link"/>
|
|
<child link="upper_leg_back_rightL_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
|
|
|
|
<link name="lower_leg_back_rightL_link">
|
|
<contact>
|
|
<stiffness value="10000"/>
|
|
<damping value="10"/>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
</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="knee_back_rightL_link" type="fixed">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_back_rightL_link"/>
|
|
<child link="lower_leg_back_rightL_link"/>
|
|
<origin rpy="0 -2.1834 0" xyz="0.0 0.01 .055"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
|
|
<link name="upper_leg_back_leftR_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</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="hip_leftR_link" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_back_leftR_link"/>
|
|
<child link="upper_leg_back_leftR_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="lower_leg_back_leftR_link">
|
|
<contact>
|
|
<stiffness value="10000"/>
|
|
<damping value="10"/>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2032"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2032"/>
|
|
</geometry>
|
|
</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="knee_back_leftR_link" type="fixed">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_back_leftR_link"/>
|
|
<child link="lower_leg_back_leftR_link"/>
|
|
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="upper_leg_back_leftL_link">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".01 0.01 .11"/>
|
|
</geometry>
|
|
</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="motor_back_leftL_link" type="fixed">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="motor_back_leftL_link"/>
|
|
<child link="upper_leg_back_leftL_link"/>
|
|
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="lower_leg_back_leftL_link">
|
|
<contact>
|
|
<stiffness value="10000"/>
|
|
<damping value="10"/>
|
|
<lateral_friction value="1"/>
|
|
</contact>
|
|
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
<material name="grey">
|
|
<color rgba="0.65 0.65 0.75 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
|
|
<geometry>
|
|
<box size=".01 0.01 .2"/>
|
|
</geometry>
|
|
</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="knee_back_leftL_link" type="fixed">
|
|
<axis xyz="0 1 0"/>
|
|
<parent link="upper_leg_back_leftL_link"/>
|
|
<child link="lower_leg_back_leftL_link"/>
|
|
<origin rpy="0 2.1834 0" xyz="0.0 0.01 .055"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
</robot>
|
|
|