746 lines
19 KiB
XML
746 lines
19 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<include>
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<uri>model://sun</uri>
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<model name='pendulum_1'>
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<pose>1.05 0 0.9 0.0 0 0</pose>
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<link name="link">
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<pose>0 0 -0.25 0 0 0</pose>
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<mass>3.375</mass>
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<joint name="joint" type="revolute">
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<pose>0 0.25 0 0 0 0</pose>
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<parent>world</parent>
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<child>link</child>
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<xyz>1 0 0</xyz>
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</model>
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<model name='pendulum_2'>
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<pose>2.1 0 0.9 0.0 0 0</pose>
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<link name="link">
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<joint name="joint" type="revolute">
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<pose>0 0.25 0 0 0 0</pose>
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<parent>world</parent>
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<child>link</child>
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<dynamics>
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<friction>0.1</friction>
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<model name='pendulum_3'>
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<pose>3.1500000000000004 0 0.9 0.0 0 0</pose>
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<link name="link">
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<pose>0 0 -0.25 0 0 0</pose>
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<joint name="joint" type="revolute">
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<pose>0 0.25 0 0 0 0</pose>
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<parent>world</parent>
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<xyz>1 0 0</xyz>
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<dynamics>
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</model>
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<model name='pendulum_4'>
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<pose>4.2 0 0.9 0.0 0 0</pose>
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<link name="link">
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<pose>0 0 -0.25 0 0 0</pose>
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<inertial>
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<mass>3.375</mass>
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<joint name="joint" type="revolute">
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<pose>0 0.25 0 0 0 0</pose>
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<parent>world</parent>
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<child>link</child>
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<axis>
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<xyz>1 0 0</xyz>
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<dynamics>
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<friction>10.0</friction>
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</dynamics>
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<model name='universal_axis1_1'>
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<pose>1.05 -1.5 0.9 0.0 0 0</pose>
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<link name="link">
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<pose>0 0 -0.25 0 0 0</pose>
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<inertial>
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<mass>3.375</mass>
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<collision name="collision">
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<joint name="joint" type="universal">
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<pose>0 0.25 0 0 0 0</pose>
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<parent>world</parent>
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<child>link</child>
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<axis>
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<xyz>1 0 0</xyz>
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<axis2>
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<xyz>0 0 1</xyz>
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<model name='universal_axis1_2'>
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<pose>2.1 -1.5 0.9 0.0 0 0</pose>
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<link name="link">
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<pose>0 0 -0.25 0 0 0</pose>
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<inertial>
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<mass>3.375</mass>
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<joint name="joint" type="universal">
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<pose>0 0.25 0 0 0 0</pose>
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<parent>world</parent>
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<child>link</child>
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<axis>
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<xyz>1 0 0</xyz>
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<dynamics>
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<friction>0.1</friction>
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<model name='universal_axis1_3'>
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<pose>3.1500000000000004 -1.5 0.9 0.0 0 0</pose>
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<link name="link">
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<pose>0 0 -0.25 0 0 0</pose>
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<mass>3.375</mass>
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<joint name="joint" type="universal">
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<pose>0 0.25 0 0 0 0</pose>
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<parent>world</parent>
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<child>link</child>
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<xyz>1 0 0</xyz>
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<model name='universal_axis1_4'>
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<link name="link">
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<pose>0 0 -0.25 0 0 0</pose>
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<joint name="joint" type="universal">
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<pose>0 0.25 0 0 0 0</pose>
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<parent>world</parent>
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<child>link</child>
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<xyz>1 0 0</xyz>
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<dynamics>
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<friction>10.0</friction>
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<model name='universal_axis2_1'>
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<link name="link">
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<pose>0 0 -0.25 0 0 0</pose>
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<mass>3.375</mass>
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<joint name="joint" type="universal">
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<pose>0 0.25 0 0 0 0</pose>
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<parent>world</parent>
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<child>link</child>
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<dynamics>
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<model name='universal_axis2_2'>
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<pose>2.1 -3.0 0.9 0.0 0 0</pose>
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<link name="link">
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<pose>0 0 -0.25 0 0 0</pose>
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<joint name="joint" type="universal">
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<pose>0 0.25 0 0 0 0</pose>
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<parent>world</parent>
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<child>link</child>
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<axis>
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<xyz>0 0 1</xyz>
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<dynamics>
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<friction>0</friction>
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<axis2>
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<xyz>1 0 0</xyz>
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<dynamics>
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<friction>0.1</friction>
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</dynamics>
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</axis2>
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<model name='universal_axis2_3'>
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<pose>3.1500000000000004 -3.0 0.9 0.0 0 0</pose>
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<link name="link">
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<pose>0 0 -0.25 0 0 0</pose>
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<inertial>
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<mass>3.375</mass>
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<joint name="joint" type="universal">
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<pose>0 0.25 0 0 0 0</pose>
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<parent>world</parent>
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<child>link</child>
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<xyz>0 0 1</xyz>
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<dynamics>
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</model>
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<model name='universal_axis2_4'>
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<pose>4.2 -3.0 0.9 0.0 0 0</pose>
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<link name="link">
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<pose>0 0 -0.25 0 0 0</pose>
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<inertial>
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<mass>3.375</mass>
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|
|
<size>0.05 0.5 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.5 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<joint name="joint" type="universal">
|
|
<pose>0 0.25 0 0 0 0</pose>
|
|
<parent>world</parent>
|
|
<child>link</child>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<dynamics>
|
|
<friction>0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>1 0 0</xyz>
|
|
<dynamics>
|
|
<friction>10.0</friction>
|
|
</dynamics>
|
|
</axis2>
|
|
</joint>
|
|
</model>
|
|
|
|
|
|
<model name='slider_1'>
|
|
<pose>1.05 1.5 0.9 0 0 0</pose>
|
|
<link name="link">
|
|
<pose>0 0 -0.25 0 0 0</pose>
|
|
<inertial>
|
|
<mass>3.375</mass>
|
|
<inertia>
|
|
<ixx>0.071015625</ixx>
|
|
<iyy>0.0014062500000000004</iyy>
|
|
<izz>0.071015625</izz>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyz>0.0</iyz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.5 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.5 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<joint name="joint" type="prismatic">
|
|
<parent>world</parent>
|
|
<child>link</child>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<dynamics>
|
|
<friction>0.0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
</model>
|
|
|
|
<model name='slider_2'>
|
|
<pose>2.1 1.5 0.9 0 0 0</pose>
|
|
<link name="link">
|
|
<pose>0 0 -0.25 0 0 0</pose>
|
|
<inertial>
|
|
<mass>3.375</mass>
|
|
<inertia>
|
|
<ixx>0.071015625</ixx>
|
|
<iyy>0.0014062500000000004</iyy>
|
|
<izz>0.071015625</izz>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyz>0.0</iyz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.5 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.5 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<joint name="joint" type="prismatic">
|
|
<parent>world</parent>
|
|
<child>link</child>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<dynamics>
|
|
<friction>5.0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
</model>
|
|
|
|
<model name='slider_3'>
|
|
<pose>3.1500000000000004 1.5 0.9 0 0 0</pose>
|
|
<link name="link">
|
|
<pose>0 0 -0.25 0 0 0</pose>
|
|
<inertial>
|
|
<mass>3.375</mass>
|
|
<inertia>
|
|
<ixx>0.071015625</ixx>
|
|
<iyy>0.0014062500000000004</iyy>
|
|
<izz>0.071015625</izz>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyz>0.0</iyz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.5 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.5 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<joint name="joint" type="prismatic">
|
|
<parent>world</parent>
|
|
<child>link</child>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<dynamics>
|
|
<friction>9.0</friction>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
</model>
|
|
|
|
<model name='slider_4'>
|
|
<pose>4.2 1.5 0.9 0 0 0</pose>
|
|
<link name="link">
|
|
<pose>0 0 -0.25 0 0 0</pose>
|
|
<inertial>
|
|
<mass>3.375</mass>
|
|
<inertia>
|
|
<ixx>0.071015625</ixx>
|
|
<iyy>0.0014062500000000004</iyy>
|
|
<izz>0.071015625</izz>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyz>0.0</iyz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.5 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.5 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<joint name="joint" type="prismatic">
|
|
<parent>world</parent>
|
|
<child>link</child>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<dynamics>
|
|
<friction>9.81</friction>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
</model>
|
|
|
|
</world>
|
|
</sdf>
|