mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-12 21:00:11 +00:00
204 lines
6.6 KiB
XML
204 lines
6.6 KiB
XML
<?xml version="1.0" ?>
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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 0.10 .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=".33 0.10 .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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</robot>
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