forked from cesar.alejandro/oscillation_ctrl
264 lines
7.2 KiB
XML
264 lines
7.2 KiB
XML
<?xml version="1.0" ?>
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<!-- DO NOT EDIT: Generated from tether.sdf.jinja -->
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<sdf version="1.5">
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<model name="tether">
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<link name="link_0">
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<gravity>true</gravity>
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<pose>-0.085 0.0 0.0 0.0 0.0 0.0</pose>
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<inertial>
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<mass>0.0051</mass>
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<inertia>
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<ixx>0.01</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.01</iyy>
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<iyz>0</iyz>
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<izz>0.01</izz>
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</inertia>
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</inertial><visual name="sphere_visual">
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<geometry>
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<sphere>
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<radius>0.009</radius>
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</sphere>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Red</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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</link>
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<plugin name="link_0_drag" filename="libLiftDragPlugin.so">
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<robotNamespace></robotNamespace>
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<a0>0</a0>
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<cla>0</cla>
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<cda>1.2535816618911175</cda>
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<alpha_stall>0</alpha_stall>
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<cda_stall>1.4326647564469914</cda_stall>
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<cp>0 0 0</cp>
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<area>0.00034</area>
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<air_density>1.2041</air_density>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>link_0</link_name>
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</plugin>
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<link name="link_y_left">
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<gravity>true</gravity>
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<pose>-0.085 0.0 0.0 0.0 0.0 -9.0</pose>
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<inertial>
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<mass>0.0051</mass>
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<inertia>
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<ixx>0.01</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.01</iyy>
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<iyz>0</iyz>
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<izz>0.01</izz>
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</inertia>
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</inertial><collision name="collision">
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<pose>0.1 0 0 0 1.570790 0</pose>
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<geometry>
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<cylinder>
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<length>0.2</length>
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<radius>0.001</radius>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode>
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<min_depth>0.00005</min_depth>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="element_visual">
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<pose>0.1 0 0 0 1.570790 0</pose>
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<geometry>
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<cylinder>
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<length>0.2</length>
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<radius>0.001</radius>
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</cylinder>
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</geometry>
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<material>
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<script>
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<name>Gazebo/White</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual><visual name="sphere_visual">
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<geometry>
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<sphere>
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<radius>0.009</radius>
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</sphere>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Red</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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</link>
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<plugin name="link_y_left_drag" filename="libLiftDragPlugin.so">
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<robotNamespace></robotNamespace>
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<a0>0</a0>
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<cla>0</cla>
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<cda>1.2535816618911175</cda>
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<alpha_stall>0</alpha_stall>
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<cda_stall>1.4326647564469914</cda_stall>
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<cp>0 0 0</cp>
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<area>0.00034</area>
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<air_density>1.2041</air_density>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>link_y_left</link_name>
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</plugin>
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<link name="link_y_right">
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<gravity>true</gravity>
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<pose>-0.085 0 0.0 0.0 0.0 9.0</pose>
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<inertial>
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<mass>0.0051</mass>
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<inertia>
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<ixx>0.01</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.01</iyy>
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<iyz>0</iyz>
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<izz>0.01</izz>
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</inertia>
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</inertial><collision name="collision">
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<pose>0.1 0 0 0 1.570790 0</pose>
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<geometry>
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<cylinder>
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<length>0.2</length>
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<radius>0.001</radius>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode>
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<min_depth>0.00005</min_depth>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="element_visual">
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<pose>0.1 0 0 0 1.570790 0</pose>
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<geometry>
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<cylinder>
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<length>0.2</length>
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<radius>0.001</radius>
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</cylinder>
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</geometry>
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<material>
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<script>
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<name>Gazebo/White</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual><visual name="sphere_visual">
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<geometry>
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<sphere>
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<radius>0.009</radius>
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</sphere>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Red</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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</link>
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<plugin name="link_y_right_drag" filename="libLiftDragPlugin.so">
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<robotNamespace></robotNamespace>
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<a0>0</a0>
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<cla>0</cla>
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<cda>1.2535816618911175</cda>
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<alpha_stall>0</alpha_stall>
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<cda_stall>1.4326647564469914</cda_stall>
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<cp>0 0 0</cp>
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<area>0.00034</area>
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<air_density>1.2041</air_density>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>link_y_right</link_name>
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</plugin>
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<joint name="joint_y_left" type="universal">
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<child>link_0</child>
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<parent>link_y_left</parent>
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<axis>
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<xyz>0 1 0</xyz>
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<dynamics>
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<damping>0.05</damping>
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<friction>0.0</friction>
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<spring_stiffness>0.01</spring_stiffness>
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<spring_reference>0.0</spring_reference>
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</dynamics>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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<axis2>
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<xyz>0 0 1</xyz>
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<dynamics>
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<damping>0.05</damping>
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<friction>0.0</friction>
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<spring_stiffness>0.01</spring_stiffness>
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<spring_reference>0.0</spring_reference>
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</dynamics>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis2>
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<physics>
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<ode>
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<cfm_damping>1</cfm_damping>
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</ode>
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</physics>
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</joint>
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<joint name="joint_y_right" type="universal">
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<child>link_0</child>
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<parent>link_y_right</parent>
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<axis>
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<xyz>0 1 0</xyz>
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<dynamics>
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<damping>0.05</damping>
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<friction>0.0</friction>
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<spring_stiffness>0.01</spring_stiffness>
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<spring_reference>0.0</spring_reference>
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</dynamics>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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<axis2>
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<xyz>0 0 1</xyz>
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<dynamics>
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<damping>0.05</damping>
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<friction>0.0</friction>
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<spring_stiffness>0.01</spring_stiffness>
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<spring_reference>0.0</spring_reference>
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</dynamics>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis2>
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<physics>
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<ode>
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<cfm_damping>1</cfm_damping>
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</ode>
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</physics>
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</joint>
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<joint name="fixed_to_world" type="fixed">
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<child>link_0</child>
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<parent>world</parent>
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</joint>
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</model>
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</sdf> |