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606 lines
21 KiB
XML
Executable File
606 lines
21 KiB
XML
Executable File
<?xml version="1.0" ?>
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<!-- Generated using onshape-to-robot -->
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<!-- Onshape https://cad.onshape.com/documents/ed0a3b786fedc3f5a347f5b7/w/3def9d92618f589fa5e565cb/e/08b151d8d146e7283193b0e7 -->
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<robot name="urdf">
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<!-- Link bottom -->
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<link name="bottom">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="1e-09"/>
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<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
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</inertial>
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<!-- Part bottom -->
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<visual>
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<origin xyz="0 0 0" rpy="0 -0 0"/>
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<geometry>
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<mesh filename="package://assets/bottom.stl"/>
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</geometry>
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<material name="bottom_material">
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<color rgba="0.301961 0.301961 0.301961 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 -0 0"/>
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<geometry>
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<mesh filename="package://assets/bottom.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Link bearingholder -->
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<link name="bearingholder">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="1e-09"/>
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<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
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</inertial>
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<!-- Part bearingholder -->
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<visual>
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<origin xyz="6.74047e-19 0.115 0.0077" rpy="-2.36791e-29 -5.53584e-32 -6.76797e-61"/>
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<geometry>
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<mesh filename="package://assets/bearingholder.stl"/>
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</geometry>
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<material name="bearingholder_material">
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<color rgba="0.301961 0.301961 0.301961 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="6.74047e-19 0.115 0.0077" rpy="-2.36791e-29 -5.53584e-32 -6.76797e-61"/>
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<geometry>
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<mesh filename="package://assets/bearingholder.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Link top -->
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<link name="top">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="1e-09"/>
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<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
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</inertial>
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<!-- Part top -->
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<visual>
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<origin xyz="0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/top.stl"/>
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</geometry>
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<material name="top_material">
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<color rgba="0.301961 0.301961 0.301961 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/top.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Link bottomtop -->
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<link name="bottomtop">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="1e-09"/>
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<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
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</inertial>
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<!-- Part bottomtop -->
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<visual>
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<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/bottomtop.stl"/>
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</geometry>
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<material name="bottomtop_material">
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<color rgba="0.513725 0.737255 0.407843 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/bottomtop.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Joint from top to bottomtop -->
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<joint name="Tibia2" type="revolute">
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<origin xyz="-0.12 -2.25514e-17 1.73472e-18" rpy="3.14159 -6.12323e-17 5.55112e-17"/>
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<parent link="top"/>
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<child link="bottomtop"/>
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<axis xyz="0 0 1"/>
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<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
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</joint>
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<!-- Joint from bearingholder to top -->
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<joint name="Femur2" type="revolute">
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<origin xyz="0.01515 -0.065 0.01525" rpy="-1.5708 2.36791e-29 1.5708"/>
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<parent link="bearingholder"/>
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<child link="top"/>
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<axis xyz="0 0 1"/>
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<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
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</joint>
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<!-- Joint from bottom to bearingholder -->
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<joint name="Coxa2" type="revolute">
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<origin xyz="0 -0.115 -0.0077" rpy="0 -0 0"/>
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<parent link="bottom"/>
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<child link="bearingholder"/>
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<axis xyz="0 0 1"/>
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<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
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</joint>
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<!-- Link bearingholder_2 -->
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<link name="bearingholder_2">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="1e-09"/>
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<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
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</inertial>
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<!-- Part bearingholder_2 -->
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<visual>
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<origin xyz="0 -0.115 0.0077" rpy="0 -0 0"/>
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<geometry>
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<mesh filename="package://assets/bearingholder__2.stl"/>
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</geometry>
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<material name="bearingholder_2_material">
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<color rgba="0.301961 0.301961 0.301961 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 -0.115 0.0077" rpy="0 -0 0"/>
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<geometry>
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<mesh filename="package://assets/bearingholder__2.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Link top_2 -->
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<link name="top_2">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="1e-09"/>
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<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
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</inertial>
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<!-- Part top_2 -->
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<visual>
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<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/top__2.stl"/>
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</geometry>
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<material name="top_2_material">
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<color rgba="0.301961 0.301961 0.301961 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/top__2.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Link bottomtop_2 -->
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<link name="bottomtop_2">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="1e-09"/>
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<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
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</inertial>
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<!-- Part bottomtop_2 -->
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<visual>
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<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/bottomtop__2.stl"/>
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</geometry>
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<material name="bottomtop_2_material">
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<color rgba="0.513725 0.737255 0.407843 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/bottomtop__2.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Joint from top_2 to bottomtop_2 -->
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<joint name="Tibia5" type="revolute">
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<origin xyz="0.12 -8.67362e-19 1.73472e-18" rpy="3.14159 6.12323e-17 0"/>
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<parent link="top_2"/>
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<child link="bottomtop_2"/>
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<axis xyz="0 0 1"/>
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<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
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</joint>
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<!-- Joint from bearingholder_2 to top_2 -->
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<joint name="Femur5" type="revolute">
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<origin xyz="0.01515 0.065 0.01525" rpy="-1.5708 -0 1.5708"/>
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<parent link="bearingholder_2"/>
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<child link="top_2"/>
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<axis xyz="0 0 1"/>
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<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
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</joint>
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<!-- Joint from bottom to bearingholder_2 -->
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<joint name="Coxa5" type="revolute">
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<origin xyz="0 0.115 -0.0077" rpy="0 -0 0"/>
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<parent link="bottom"/>
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<child link="bearingholder_2"/>
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<axis xyz="0 0 1"/>
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<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
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</joint>
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<!-- Link bearingholder_3 -->
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<link name="bearingholder_3">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="1e-09"/>
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<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
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</inertial>
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<!-- Part bearingholder_3 -->
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<visual>
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<origin xyz="-2.1684e-19 0.115 0.0077" rpy="-4.70198e-38 -9.40395e-38 -2.54791e-17"/>
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<geometry>
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<mesh filename="package://assets/bearingholder.stl"/>
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</geometry>
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<material name="bearingholder_3_material">
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<color rgba="0.301961 0.301961 0.301961 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="-2.1684e-19 0.115 0.0077" rpy="-4.70198e-38 -9.40395e-38 -2.54791e-17"/>
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<geometry>
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<mesh filename="package://assets/bearingholder.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Link top_3 -->
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<link name="top_3">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="1e-09"/>
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<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
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</inertial>
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<!-- Part top_3 -->
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<visual>
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<origin xyz="0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/top.stl"/>
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</geometry>
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<material name="top_3_material">
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<color rgba="0.301961 0.301961 0.301961 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/top.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Link bottomtop_3 -->
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<link name="bottomtop_3">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="1e-09"/>
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<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
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</inertial>
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<!-- Part bottomtop_3 -->
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<visual>
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<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/bottomtop.stl"/>
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</geometry>
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<material name="bottomtop_3_material">
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<color rgba="0.513725 0.737255 0.407843 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/bottomtop.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Joint from top_3 to bottomtop_3 -->
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<joint name="Tibia1" type="revolute">
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<origin xyz="-0.12 -6.07153e-18 1.2837e-16" rpy="-3.14159 -7.72359e-16 -1.85502e-16"/>
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<parent link="top_3"/>
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<child link="bottomtop_3"/>
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<axis xyz="0 0 1"/>
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<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
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</joint>
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<!-- Joint from bearingholder_3 to top_3 -->
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<joint name="Femur1" type="revolute">
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<origin xyz="0.01515 -0.065 0.01525" rpy="-1.5708 4.70198e-38 1.5708"/>
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<parent link="bearingholder_3"/>
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<child link="top_3"/>
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<axis xyz="0 0 1"/>
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<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
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</joint>
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<!-- Joint from bottom to bearingholder_3 -->
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<joint name="Coxa1" type="revolute">
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<origin xyz="-0.128172 -0.074 -0.0077" rpy="3.06739e-22 7.25872e-22 -1.05398"/>
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<parent link="bottom"/>
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<child link="bearingholder_3"/>
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<axis xyz="0 0 1"/>
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<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
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</joint>
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<!-- Link bearingholder_4 -->
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<link name="bearingholder_4">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="1e-09"/>
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<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
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</inertial>
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<!-- Part bearingholder_4 -->
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<visual>
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<origin xyz="4.33681e-18 0.115 0.0077" rpy="1.11095e-31 -1.12906e-31 -1.43379e-17"/>
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<geometry>
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<mesh filename="package://assets/bearingholder.stl"/>
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</geometry>
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<material name="bearingholder_4_material">
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<color rgba="0.301961 0.301961 0.301961 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="4.33681e-18 0.115 0.0077" rpy="1.11095e-31 -1.12906e-31 -1.43379e-17"/>
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<geometry>
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<mesh filename="package://assets/bearingholder.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Link top_4 -->
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<link name="top_4">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="1e-09"/>
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<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
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</inertial>
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<!-- Part top_4 -->
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<visual>
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<origin xyz="0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/top.stl"/>
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</geometry>
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<material name="top_4_material">
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<color rgba="0.301961 0.301961 0.301961 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/top.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Link bottomtop_4 -->
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<link name="bottomtop_4">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="1e-09"/>
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<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
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</inertial>
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<!-- Part bottomtop_4 -->
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<visual>
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<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/bottomtop.stl"/>
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</geometry>
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<material name="bottomtop_4_material">
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<color rgba="0.513725 0.737255 0.407843 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
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<geometry>
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<mesh filename="package://assets/bottomtop.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Joint from top_4 to bottomtop_4 -->
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<joint name="Tibia3" type="revolute">
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<origin xyz="-0.12 -7.11237e-17 -2.498e-16" rpy="3.14159 -2.91581e-15 6.63744e-16"/>
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<parent link="top_4"/>
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<child link="bottomtop_4"/>
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<axis xyz="0 0 1"/>
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<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
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</joint>
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<!-- Joint from bearingholder_4 to top_4 -->
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<joint name="Femur3" type="revolute">
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<origin xyz="0.01515 -0.065 0.01525" rpy="-1.5708 -1.11095e-31 1.5708"/>
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<parent link="bearingholder_4"/>
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<child link="top_4"/>
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<axis xyz="0 0 1"/>
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<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
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</joint>
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<!-- Joint from bottom to bearingholder_4 -->
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<joint name="Coxa3" type="revolute">
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<origin xyz="0.128172 -0.074 -0.0077" rpy="1.36459e-15 7.45515e-16 1.07747"/>
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<parent link="bottom"/>
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<child link="bearingholder_4"/>
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<axis xyz="0 0 1"/>
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<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
|
|
</joint>
|
|
<!-- Link bearingholder_5 -->
|
|
<link name="bearingholder_5">
|
|
<inertial>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<mass value="1e-09"/>
|
|
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
|
|
</inertial>
|
|
<!-- Part bearingholder_5 -->
|
|
<visual>
|
|
<origin xyz="-4.33681e-18 -0.115 0.0077" rpy="1.41059e-37 -0 -9.37717e-17"/>
|
|
<geometry>
|
|
<mesh filename="package://assets/bearingholder__2.stl"/>
|
|
</geometry>
|
|
<material name="bearingholder_5_material">
|
|
<color rgba="0.301961 0.301961 0.301961 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="-4.33681e-18 -0.115 0.0077" rpy="1.41059e-37 -0 -9.37717e-17"/>
|
|
<geometry>
|
|
<mesh filename="package://assets/bearingholder__2.stl"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link top_5 -->
|
|
<link name="top_5">
|
|
<inertial>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<mass value="1e-09"/>
|
|
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
|
|
</inertial>
|
|
<!-- Part top_5 -->
|
|
<visual>
|
|
<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
|
|
<geometry>
|
|
<mesh filename="package://assets/top__2.stl"/>
|
|
</geometry>
|
|
<material name="top_5_material">
|
|
<color rgba="0.301961 0.301961 0.301961 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
|
|
<geometry>
|
|
<mesh filename="package://assets/top__2.stl"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link bottomtop_5 -->
|
|
<link name="bottomtop_5">
|
|
<inertial>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<mass value="1e-09"/>
|
|
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
|
|
</inertial>
|
|
<!-- Part bottomtop_5 -->
|
|
<visual>
|
|
<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
|
|
<geometry>
|
|
<mesh filename="package://assets/bottomtop__2.stl"/>
|
|
</geometry>
|
|
<material name="bottomtop_5_material">
|
|
<color rgba="0.513725 0.737255 0.407843 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
|
|
<geometry>
|
|
<mesh filename="package://assets/bottomtop__2.stl"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Joint from top_5 to bottomtop_5 -->
|
|
<joint name="Tibia6" type="revolute">
|
|
<origin xyz="0.12 4.33681e-18 -1.70003e-16" rpy="3.14159 1.49429e-15 9.18028e-17"/>
|
|
<parent link="top_5"/>
|
|
<child link="bottomtop_5"/>
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
|
|
</joint>
|
|
<!-- Joint from bearingholder_5 to top_5 -->
|
|
<joint name="Femur6" type="revolute">
|
|
<origin xyz="0.01515 0.065 0.01525" rpy="-1.5708 -1.88079e-37 1.5708"/>
|
|
<parent link="bearingholder_5"/>
|
|
<child link="top_5"/>
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
|
|
</joint>
|
|
<!-- Joint from bottom to bearingholder_5 -->
|
|
<joint name="Coxa6" type="revolute">
|
|
<origin xyz="-0.128172 0.074 -0.0077" rpy="3.00252e-22 3.46199e-22 1.0625"/>
|
|
<parent link="bottom"/>
|
|
<child link="bearingholder_5"/>
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
|
|
</joint>
|
|
<!-- Link bearingholder_6 -->
|
|
<link name="bearingholder_6">
|
|
<inertial>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<mass value="1e-09"/>
|
|
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
|
|
</inertial>
|
|
<!-- Part bearingholder_6 -->
|
|
<visual>
|
|
<origin xyz="-4.55365e-18 -0.115 0.0077" rpy="0 -0 3.05228e-17"/>
|
|
<geometry>
|
|
<mesh filename="package://assets/bearingholder__2.stl"/>
|
|
</geometry>
|
|
<material name="bearingholder_6_material">
|
|
<color rgba="0.301961 0.301961 0.301961 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="-4.55365e-18 -0.115 0.0077" rpy="0 -0 3.05228e-17"/>
|
|
<geometry>
|
|
<mesh filename="package://assets/bearingholder__2.stl"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link top_6 -->
|
|
<link name="top_6">
|
|
<inertial>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<mass value="1e-09"/>
|
|
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
|
|
</inertial>
|
|
<!-- Part top_6 -->
|
|
<visual>
|
|
<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
|
|
<geometry>
|
|
<mesh filename="package://assets/top__2.stl"/>
|
|
</geometry>
|
|
<material name="top_6_material">
|
|
<color rgba="0.301961 0.301961 0.301961 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="-0.18 0.00755 0.01525" rpy="1.5708 1.5708 0"/>
|
|
<geometry>
|
|
<mesh filename="package://assets/top__2.stl"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Link bottomtop_6 -->
|
|
<link name="bottomtop_6">
|
|
<inertial>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<mass value="1e-09"/>
|
|
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
|
|
</inertial>
|
|
<!-- Part bottomtop_6 -->
|
|
<visual>
|
|
<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
|
|
<geometry>
|
|
<mesh filename="package://assets/bottomtop__2.stl"/>
|
|
</geometry>
|
|
<material name="bottomtop_6_material">
|
|
<color rgba="0.513725 0.737255 0.407843 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="-0.3 -0.00755 -0.01525" rpy="-1.5708 -1.5708 0"/>
|
|
<geometry>
|
|
<mesh filename="package://assets/bottomtop__2.stl"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<!-- Joint from top_6 to bottomtop_6 -->
|
|
<joint name="Tibia4" type="revolute">
|
|
<origin xyz="0.12 0 -5.89806e-17" rpy="3.14159 9.40223e-16 -1.07828e-16"/>
|
|
<parent link="top_6"/>
|
|
<child link="bottomtop_6"/>
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
|
|
</joint>
|
|
<!-- Joint from bearingholder_6 to top_6 -->
|
|
<joint name="Femur4" type="revolute">
|
|
<origin xyz="0.01515 0.065 0.01525" rpy="-1.5708 -0 1.5708"/>
|
|
<parent link="bearingholder_6"/>
|
|
<child link="top_6"/>
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
|
|
</joint>
|
|
<!-- Joint from bottom to bearingholder_6 -->
|
|
<joint name="Coxa4" type="revolute">
|
|
<origin xyz="0.128172 0.074 -0.0077" rpy="2.28238e-22 4.04189e-22 -1.05148"/>
|
|
<parent link="bottom"/>
|
|
<child link="bearingholder_6"/>
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
|
|
</joint>
|
|
</robot>
|