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GenSim
File size: 3,575 Bytes 
8fc2b4e
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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<?xml version="1.0" encoding="UTF-8"?>

<robot name="stand.urdf">
  <link name="baseLink">
    <contact>
      <lateral_friction value="0.5"/>
      <rolling_friction value="0.0001"/>
      <inertia_scaling value="3.0"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value=".1"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.03"/>
      <geometry>
        <cylinder radius=".005" length="0.05"/>
      </geometry>
      <material name="brown">
        <color rgba="0.61176471, 0.45882353, 0.37254902 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.03"/>
      <geometry>
	 	    <cylinder radius=".005" length="0.05"/>
      </geometry>
    </collision>

    <visual>
      <origin rpy="0 0 0" xyz="0 0.12 0.03"/>
      <geometry>
        <cylinder radius=".005" length="0.05"/>
      </geometry>
      <material name="brown">
        <color rgba="0.61176471, 0.45882353, 0.37254902 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.12 0.03"/>
      <geometry>
        <cylinder radius=".005" length="0.05"/>
      </geometry>
    </collision>

    <visual>
      <origin rpy="0 0 0" xyz="0 -0.12 0.03"/>
      <geometry>
        <cylinder radius=".005" length="0.05"/>
      </geometry>
      <material name="brown">
        <color rgba="0.61176471 0.45882353 0.37254902 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.12 0.03"/>
      <geometry>
        <cylinder radius=".005" length="0.05"/>
      </geometry>
    </collision>
    

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size=".12 .12 .01"/>
      </geometry>
      <material name="brown">
        <color rgba="0.61176471 0.45882353 0.37254902 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size=".12 .12 .01"/>
      </geometry>
    </collision>


  </link>

  <link name="base1">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value=".1"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 -0.12 0"/>
      <geometry>
        <box size=".12 .12 .01"/>
      </geometry>
      <material name="lightbrown">
        <color rgba="0.91764706 0.68823529 0.55882353 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.12 0"/>
      <geometry>
        <box size=".12 .12 .01"/>
      </geometry>
    </collision>
  </link>
  <joint name="baseLink-base1" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="baseLink"/>
    <child link="base1"/>
  </joint>

  <link name="base2">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value=".1"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.12 0"/>
      <geometry>
        <box size=".12 .12 .01"/>
      </geometry>
      <material name="darkbrown">
        <color rgba="0.30588235 0.22941176 0.18627451 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.12 0"/>
      <geometry>
        <box size=".12 .12 .01"/>
      </geometry>
    </collision>
  </link>
  <joint name="baseLink-base2" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="baseLink"/>
    <child link="base2"/>
  </joint>

</robot>