dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

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  1. dartpy-7.0.0.dev0.dist-info/METADATA +86 -0
  2. dartpy-7.0.0.dev0.dist-info/RECORD +994 -0
  3. dartpy-7.0.0.dev0.dist-info/WHEEL +5 -0
  4. dartpy-7.0.0.dev0.dist-info/licenses/LICENSE +31 -0
  5. dartpy.cpython-312-x86_64-linux-gnu.so +0 -0
  6. dartpy.libs/libBulletCollision-f96eb02c.so.3.25 +0 -0
  7. dartpy.libs/libBulletDynamics-3cff1f18.so.3.25 +0 -0
  8. dartpy.libs/libBulletSoftBody-220f01bd.so.3.25 +0 -0
  9. dartpy.libs/libLinearMath-71568d02.so.3.25 +0 -0
  10. dartpy.libs/libOpenThreads-8bc434db.so.3.3.1 +0 -0
  11. dartpy.libs/libSDL2-2-3db87ac0.0.so.0.3200.56 +0 -0
  12. dartpy.libs/libassimp-44cf3e77.so.5.4.3 +0 -0
  13. dartpy.libs/libccd-4f119cf4.so.2.0 +0 -0
  14. dartpy.libs/libconsole_bridge-f26e11cc.so.1.0 +0 -0
  15. dartpy.libs/libfcl-2607815a.so.0.7.0 +0 -0
  16. dartpy.libs/libfmt-277170bf.so.11.2.0 +0 -0
  17. dartpy.libs/libfontconfig-559ff509.so.1.14.0 +0 -0
  18. dartpy.libs/libfreetype-64806fc6.so.6.20.4 +0 -0
  19. dartpy.libs/libglfw-6f066845.so.3.4 +0 -0
  20. dartpy.libs/libimgui-ab87b07d.so +0 -0
  21. dartpy.libs/libnlopt-78f9bc34.so.1.0.0 +0 -0
  22. dartpy.libs/liboctomap-38e56f99.so.1.10.0 +0 -0
  23. dartpy.libs/liboctomath-bff26442.so.1.10.0 +0 -0
  24. dartpy.libs/libode-caca20fc.so.8.2.0 +0 -0
  25. dartpy.libs/libosg-e67375e5.so.3.6.5 +0 -0
  26. dartpy.libs/libosgDB-22ae780f.so.3.6.5 +0 -0
  27. dartpy.libs/libosgGA-6af4078b.so.3.6.5 +0 -0
  28. dartpy.libs/libosgManipulator-3270f659.so.3.6.5 +0 -0
  29. dartpy.libs/libosgShadow-127a8d77.so.3.6.5 +0 -0
  30. dartpy.libs/libosgText-87d82d87.so.3.6.5 +0 -0
  31. dartpy.libs/libosgUtil-55896958.so.3.6.5 +0 -0
  32. dartpy.libs/libosgViewer-76d832e3.so.3.6.5 +0 -0
  33. dartpy.libs/libpng16-bd65464e.so.16.50.0 +0 -0
  34. dartpy.libs/libtinyxml2-8d10763c.so.11.0.0 +0 -0
  35. dartpy.libs/liburdfdom_model-7b26ae88.so.4.0 +0 -0
  36. dartpy.libs/liburdfdom_model_state-95a5ad6e.so.4.0 +0 -0
  37. dartpy.libs/liburdfdom_sensor-55a145ea.so.4.0 +0 -0
  38. dartpy.libs/liburdfdom_world-a32c7194.so.4.0 +0 -0
  39. dartpy.libs/libvulkan-8caf1954.so.1.4.328 +0 -0
  40. include/dart/collision/CollisionDetector.hpp +305 -0
  41. include/dart/collision/CollisionFilter.hpp +126 -0
  42. include/dart/collision/CollisionGroup.hpp +546 -0
  43. include/dart/collision/CollisionObject.hpp +90 -0
  44. include/dart/collision/CollisionOption.hpp +71 -0
  45. include/dart/collision/CollisionResult.hpp +109 -0
  46. include/dart/collision/Contact.hpp +103 -0
  47. include/dart/collision/DistanceFilter.hpp +66 -0
  48. include/dart/collision/DistanceOption.hpp +80 -0
  49. include/dart/collision/DistanceResult.hpp +123 -0
  50. include/dart/collision/Option.hpp +42 -0
  51. include/dart/collision/RaycastOption.hpp +58 -0
  52. include/dart/collision/RaycastResult.hpp +80 -0
  53. include/dart/collision/Result.hpp +42 -0
  54. include/dart/collision/SmartPointer.hpp +51 -0
  55. include/dart/collision/all.hpp +17 -0
  56. include/dart/collision/bullet/BulletCollisionDetector.hpp +168 -0
  57. include/dart/collision/bullet/BulletCollisionGroup.hpp +98 -0
  58. include/dart/collision/bullet/BulletCollisionObject.hpp +75 -0
  59. include/dart/collision/bullet/BulletCollisionShape.hpp +62 -0
  60. include/dart/collision/bullet/BulletInclude.hpp +47 -0
  61. include/dart/collision/bullet/BulletTypes.hpp +57 -0
  62. include/dart/collision/bullet/all.hpp +8 -0
  63. include/dart/collision/bullet/bullet.hpp +14 -0
  64. include/dart/collision/bullet/detail/BulletCollisionDispatcher.hpp +70 -0
  65. include/dart/collision/bullet/detail/BulletOverlapFilterCallback.hpp +72 -0
  66. include/dart/collision/collision.hpp +14 -0
  67. include/dart/collision/dart/DARTCollide.hpp +106 -0
  68. include/dart/collision/dart/DARTCollisionDetector.hpp +109 -0
  69. include/dart/collision/dart/DARTCollisionGroup.hpp +82 -0
  70. include/dart/collision/dart/DARTCollisionObject.hpp +63 -0
  71. include/dart/collision/dart/all.hpp +6 -0
  72. include/dart/collision/dart/dart.hpp +14 -0
  73. include/dart/collision/detail/CollisionDetector.hpp +66 -0
  74. include/dart/collision/detail/CollisionGroup.hpp +287 -0
  75. include/dart/collision/detail/Contact-impl.hpp +56 -0
  76. include/dart/collision/detail/UnorderedPairs.hpp +153 -0
  77. include/dart/collision/fcl/BackwardCompatibility.hpp +145 -0
  78. include/dart/collision/fcl/CollisionShapes.hpp +374 -0
  79. include/dart/collision/fcl/FCLCollisionDetector.hpp +204 -0
  80. include/dart/collision/fcl/FCLCollisionGroup.hpp +95 -0
  81. include/dart/collision/fcl/FCLCollisionObject.hpp +72 -0
  82. include/dart/collision/fcl/FCLTypes.hpp +62 -0
  83. include/dart/collision/fcl/TriTriIntersectionTest.hpp +17 -0
  84. include/dart/collision/fcl/all.hpp +9 -0
  85. include/dart/collision/fcl/fcl.hpp +14 -0
  86. include/dart/collision/fcl/tri_tri_intersection_test.hpp +332 -0
  87. include/dart/collision/ode/OdeCollisionDetector.hpp +131 -0
  88. include/dart/collision/ode/OdeCollisionGroup.hpp +87 -0
  89. include/dart/collision/ode/OdeCollisionObject.hpp +89 -0
  90. include/dart/collision/ode/OdeTypes.hpp +51 -0
  91. include/dart/collision/ode/all.hpp +6 -0
  92. include/dart/collision/ode/detail/OdeBox.hpp +58 -0
  93. include/dart/collision/ode/detail/OdeCapsule.hpp +58 -0
  94. include/dart/collision/ode/detail/OdeCylinder.hpp +58 -0
  95. include/dart/collision/ode/detail/OdeGeom.hpp +83 -0
  96. include/dart/collision/ode/detail/OdeHeightmap-impl.hpp +170 -0
  97. include/dart/collision/ode/detail/OdeHeightmap.hpp +70 -0
  98. include/dart/collision/ode/detail/OdeMesh.hpp +83 -0
  99. include/dart/collision/ode/detail/OdePlane.hpp +67 -0
  100. include/dart/collision/ode/detail/OdeSphere.hpp +58 -0
  101. include/dart/collision/ode/ode.hpp +14 -0
  102. include/dart/common/Aspect.hpp +215 -0
  103. include/dart/common/AspectWithVersion.hpp +180 -0
  104. include/dart/common/CAllocator.hpp +65 -0
  105. include/dart/common/Castable.hpp +102 -0
  106. include/dart/common/ClassWithVirtualBase.hpp +47 -0
  107. include/dart/common/Cloneable.hpp +327 -0
  108. include/dart/common/Composite.hpp +205 -0
  109. include/dart/common/CompositeJoiner.hpp +160 -0
  110. include/dart/common/Console.hpp +75 -0
  111. include/dart/common/Deprecated.hpp +126 -0
  112. include/dart/common/EmbeddedAspect.hpp +466 -0
  113. include/dart/common/Empty.hpp +55 -0
  114. include/dart/common/Factory.hpp +146 -0
  115. include/dart/common/Filesystem.hpp +112 -0
  116. include/dart/common/FreeListAllocator.hpp +162 -0
  117. include/dart/common/IncludeWindows.hpp +50 -0
  118. include/dart/common/LocalResource.hpp +76 -0
  119. include/dart/common/LocalResourceRetriever.hpp +63 -0
  120. include/dart/common/LockableReference.hpp +166 -0
  121. include/dart/common/Logging.hpp +146 -0
  122. include/dart/common/Macros.hpp +78 -0
  123. include/dart/common/Memory.hpp +215 -0
  124. include/dart/common/MemoryAllocator.hpp +120 -0
  125. include/dart/common/MemoryAllocatorDebugger.hpp +98 -0
  126. include/dart/common/MemoryManager.hpp +189 -0
  127. include/dart/common/Metaprogramming.hpp +68 -0
  128. include/dart/common/NameManager.hpp +184 -0
  129. include/dart/common/Observer.hpp +85 -0
  130. include/dart/common/Optional.hpp +48 -0
  131. include/dart/common/Platform.hpp +92 -0
  132. include/dart/common/PoolAllocator.hpp +141 -0
  133. include/dart/common/Profile.hpp +56 -0
  134. include/dart/common/ProxyAspect.hpp +93 -0
  135. include/dart/common/RequiresAspect.hpp +79 -0
  136. include/dart/common/Resource.hpp +96 -0
  137. include/dart/common/ResourceRetriever.hpp +82 -0
  138. include/dart/common/SharedLibrary.hpp +201 -0
  139. include/dart/common/Signal.hpp +250 -0
  140. include/dart/common/Singleton.hpp +85 -0
  141. include/dart/common/SmartPointer.hpp +63 -0
  142. include/dart/common/SpecializedForAspect.hpp +207 -0
  143. include/dart/common/StlAllocator.hpp +111 -0
  144. include/dart/common/StlHelpers.hpp +61 -0
  145. include/dart/common/Stopwatch.hpp +143 -0
  146. include/dart/common/String.hpp +71 -0
  147. include/dart/common/SubPtr.hpp +17 -0
  148. include/dart/common/Subject.hpp +84 -0
  149. include/dart/common/Timer.hpp +119 -0
  150. include/dart/common/Uri.hpp +229 -0
  151. include/dart/common/VersionCounter.hpp +68 -0
  152. include/dart/common/Virtual.hpp +51 -0
  153. include/dart/common/all.hpp +53 -0
  154. include/dart/common/common.hpp +14 -0
  155. include/dart/common/detail/Aspect.hpp +102 -0
  156. include/dart/common/detail/AspectWithVersion.hpp +455 -0
  157. include/dart/common/detail/Castable-impl.hpp +109 -0
  158. include/dart/common/detail/Cloneable.hpp +638 -0
  159. include/dart/common/detail/Composite.hpp +241 -0
  160. include/dart/common/detail/CompositeData.hpp +393 -0
  161. include/dart/common/detail/CompositeJoiner.hpp +128 -0
  162. include/dart/common/detail/ConnectionBody.hpp +157 -0
  163. include/dart/common/detail/EmbeddedAspect.hpp +487 -0
  164. include/dart/common/detail/Factory-impl.hpp +200 -0
  165. include/dart/common/detail/LockableReference-impl.hpp +156 -0
  166. include/dart/common/detail/Logging-impl.hpp +162 -0
  167. include/dart/common/detail/Memory-impl.hpp +66 -0
  168. include/dart/common/detail/MemoryAllocator-impl.hpp +97 -0
  169. include/dart/common/detail/MemoryAllocatorDebugger-impl.hpp +201 -0
  170. include/dart/common/detail/MemoryManager-impl.hpp +102 -0
  171. include/dart/common/detail/Metaprogramming-impl.hpp +89 -0
  172. include/dart/common/detail/NameManager.hpp +301 -0
  173. include/dart/common/detail/NoOp.hpp +57 -0
  174. include/dart/common/detail/ProxyAspect.hpp +172 -0
  175. include/dart/common/detail/RequiresAspect.hpp +51 -0
  176. include/dart/common/detail/SharedLibraryManager.hpp +106 -0
  177. include/dart/common/detail/Signal.hpp +242 -0
  178. include/dart/common/detail/Singleton-impl.hpp +74 -0
  179. include/dart/common/detail/SpecializedForAspect.hpp +331 -0
  180. include/dart/common/detail/StlAllocator-impl.hpp +108 -0
  181. include/dart/common/detail/Stopwatch-impl.hpp +242 -0
  182. include/dart/common/detail/SubPtr.hpp +17 -0
  183. include/dart/common/detail/TemplateJoinerDispatchMacro.hpp +59 -0
  184. include/dart/common/detail/sub_ptr.hpp +139 -0
  185. include/dart/common/sub_ptr.hpp +103 -0
  186. include/dart/config.hpp +100 -0
  187. include/dart/constraint/BalanceConstraint.hpp +202 -0
  188. include/dart/constraint/BallJointConstraint.hpp +142 -0
  189. include/dart/constraint/BoxedLcpConstraintSolver.hpp +182 -0
  190. include/dart/constraint/BoxedLcpSolver.hpp +101 -0
  191. include/dart/constraint/ConstrainedGroup.hpp +120 -0
  192. include/dart/constraint/ConstraintBase.hpp +141 -0
  193. include/dart/constraint/ConstraintSolver.hpp +325 -0
  194. include/dart/constraint/ContactConstraint.hpp +286 -0
  195. include/dart/constraint/ContactSurface.hpp +191 -0
  196. include/dart/constraint/DantzigBoxedLcpSolver.hpp +71 -0
  197. include/dart/constraint/DantzigLCPSolver.hpp +87 -0
  198. include/dart/constraint/DynamicJointConstraint.hpp +120 -0
  199. include/dart/constraint/JointConstraint.hpp +182 -0
  200. include/dart/constraint/JointCoulombFrictionConstraint.hpp +149 -0
  201. include/dart/constraint/JointLimitConstraint.hpp +185 -0
  202. include/dart/constraint/LCPSolver.hpp +71 -0
  203. include/dart/constraint/MimicMotorConstraint.hpp +164 -0
  204. include/dart/constraint/PGSLCPSolver.hpp +109 -0
  205. include/dart/constraint/PgsBoxedLcpSolver.hpp +106 -0
  206. include/dart/constraint/ServoMotorConstraint.hpp +151 -0
  207. include/dart/constraint/SmartPointer.hpp +69 -0
  208. include/dart/constraint/SoftContactConstraint.hpp +262 -0
  209. include/dart/constraint/WeldJointConstraint.hpp +133 -0
  210. include/dart/constraint/all.hpp +25 -0
  211. include/dart/constraint/constraint.hpp +14 -0
  212. include/dart/constraint/detail/ConstraintSolver-impl.hpp +78 -0
  213. include/dart/dart.hpp +44 -0
  214. include/dart/dynamics/ArrowShape.hpp +121 -0
  215. include/dart/dynamics/AssimpInputResourceAdaptor.hpp +129 -0
  216. include/dart/dynamics/BallJoint.hpp +143 -0
  217. include/dart/dynamics/BodyNode.hpp +1279 -0
  218. include/dart/dynamics/BoxShape.hpp +90 -0
  219. include/dart/dynamics/Branch.hpp +107 -0
  220. include/dart/dynamics/CapsuleShape.hpp +105 -0
  221. include/dart/dynamics/Chain.hpp +142 -0
  222. include/dart/dynamics/CompositeNode.hpp +114 -0
  223. include/dart/dynamics/ConeShape.hpp +107 -0
  224. include/dart/dynamics/CylinderShape.hpp +96 -0
  225. include/dart/dynamics/DegreeOfFreedom.hpp +415 -0
  226. include/dart/dynamics/EllipsoidShape.hpp +115 -0
  227. include/dart/dynamics/EndEffector.hpp +158 -0
  228. include/dart/dynamics/Entity.hpp +258 -0
  229. include/dart/dynamics/EntityNode.hpp +77 -0
  230. include/dart/dynamics/EulerJoint.hpp +174 -0
  231. include/dart/dynamics/FixedFrame.hpp +105 -0
  232. include/dart/dynamics/FixedJacobianNode.hpp +168 -0
  233. include/dart/dynamics/Frame.hpp +388 -0
  234. include/dart/dynamics/FreeJoint.hpp +369 -0
  235. include/dart/dynamics/GenericJoint.hpp +825 -0
  236. include/dart/dynamics/Group.hpp +270 -0
  237. include/dart/dynamics/HeightmapShape.hpp +195 -0
  238. include/dart/dynamics/HierarchicalIK.hpp +419 -0
  239. include/dart/dynamics/IkFast.hpp +277 -0
  240. include/dart/dynamics/Inertia.hpp +176 -0
  241. include/dart/dynamics/InvalidIndex.hpp +46 -0
  242. include/dart/dynamics/InverseKinematics.hpp +1401 -0
  243. include/dart/dynamics/JacobianNode.hpp +312 -0
  244. include/dart/dynamics/Joint.hpp +1128 -0
  245. include/dart/dynamics/LineSegmentShape.hpp +140 -0
  246. include/dart/dynamics/Linkage.hpp +246 -0
  247. include/dart/dynamics/Marker.hpp +126 -0
  248. include/dart/dynamics/MeshShape.hpp +225 -0
  249. include/dart/dynamics/MetaSkeleton.hpp +1034 -0
  250. include/dart/dynamics/MimicDofProperties.hpp +62 -0
  251. include/dart/dynamics/MultiSphereConvexHullShape.hpp +111 -0
  252. include/dart/dynamics/MultiSphereShape.hpp +42 -0
  253. include/dart/dynamics/Node.hpp +273 -0
  254. include/dart/dynamics/NodeManagerJoiner.hpp +190 -0
  255. include/dart/dynamics/PlanarJoint.hpp +161 -0
  256. include/dart/dynamics/PlaneShape.hpp +105 -0
  257. include/dart/dynamics/PointCloudShape.hpp +186 -0
  258. include/dart/dynamics/PointMass.hpp +709 -0
  259. include/dart/dynamics/PrismaticJoint.hpp +120 -0
  260. include/dart/dynamics/PyramidShape.hpp +122 -0
  261. include/dart/dynamics/ReferentialSkeleton.hpp +550 -0
  262. include/dart/dynamics/RevoluteJoint.hpp +120 -0
  263. include/dart/dynamics/ScrewJoint.hpp +126 -0
  264. include/dart/dynamics/Shape.hpp +231 -0
  265. include/dart/dynamics/ShapeFrame.hpp +291 -0
  266. include/dart/dynamics/ShapeNode.hpp +134 -0
  267. include/dart/dynamics/SharedLibraryIkFast.hpp +147 -0
  268. include/dart/dynamics/SimpleFrame.hpp +247 -0
  269. include/dart/dynamics/Skeleton.hpp +1350 -0
  270. include/dart/dynamics/SmartPointer.hpp +185 -0
  271. include/dart/dynamics/SoftBodyNode.hpp +472 -0
  272. include/dart/dynamics/SoftMeshShape.hpp +100 -0
  273. include/dart/dynamics/SpecializedNodeManager.hpp +230 -0
  274. include/dart/dynamics/SphereShape.hpp +89 -0
  275. include/dart/dynamics/TemplatedJacobianNode.hpp +128 -0
  276. include/dart/dynamics/TranslationalJoint.hpp +105 -0
  277. include/dart/dynamics/TranslationalJoint2D.hpp +156 -0
  278. include/dart/dynamics/UniversalJoint.hpp +128 -0
  279. include/dart/dynamics/VoxelGridShape.hpp +171 -0
  280. include/dart/dynamics/WeldJoint.hpp +116 -0
  281. include/dart/dynamics/ZeroDofJoint.hpp +562 -0
  282. include/dart/dynamics/all.hpp +69 -0
  283. include/dart/dynamics/detail/BasicNodeManager.hpp +539 -0
  284. include/dart/dynamics/detail/BodyNode.hpp +344 -0
  285. include/dart/dynamics/detail/BodyNodeAspect.hpp +177 -0
  286. include/dart/dynamics/detail/BodyNodePtr.hpp +351 -0
  287. include/dart/dynamics/detail/CompositeNode.hpp +93 -0
  288. include/dart/dynamics/detail/DegreeOfFreedomPtr.hpp +338 -0
  289. include/dart/dynamics/detail/EndEffectorAspect.hpp +106 -0
  290. include/dart/dynamics/detail/EntityNode.hpp +81 -0
  291. include/dart/dynamics/detail/EntityNodeAspect.hpp +101 -0
  292. include/dart/dynamics/detail/EulerJointAspect.hpp +93 -0
  293. include/dart/dynamics/detail/FixedFrameAspect.hpp +58 -0
  294. include/dart/dynamics/detail/FixedJacobianNode.hpp +55 -0
  295. include/dart/dynamics/detail/GenericJoint.hpp +2471 -0
  296. include/dart/dynamics/detail/GenericJointAspect.hpp +353 -0
  297. include/dart/dynamics/detail/HeightmapShape-impl.hpp +243 -0
  298. include/dart/dynamics/detail/InverseKinematics.hpp +83 -0
  299. include/dart/dynamics/detail/InverseKinematicsPtr.hpp +341 -0
  300. include/dart/dynamics/detail/JointAspect.hpp +161 -0
  301. include/dart/dynamics/detail/JointPtr.hpp +293 -0
  302. include/dart/dynamics/detail/MarkerAspect.hpp +68 -0
  303. include/dart/dynamics/detail/MetaSkeleton-impl.hpp +151 -0
  304. include/dart/dynamics/detail/Node.hpp +532 -0
  305. include/dart/dynamics/detail/NodeManagerJoiner.hpp +184 -0
  306. include/dart/dynamics/detail/NodePtr.hpp +259 -0
  307. include/dart/dynamics/detail/PlanarJointAspect.hpp +136 -0
  308. include/dart/dynamics/detail/PrismaticJointAspect.hpp +85 -0
  309. include/dart/dynamics/detail/RevoluteJointAspect.hpp +86 -0
  310. include/dart/dynamics/detail/ScrewJointAspect.hpp +90 -0
  311. include/dart/dynamics/detail/ShapeFrameAspect.hpp +169 -0
  312. include/dart/dynamics/detail/ShapeNode.hpp +51 -0
  313. include/dart/dynamics/detail/Skeleton.hpp +92 -0
  314. include/dart/dynamics/detail/SkeletonAspect.hpp +181 -0
  315. include/dart/dynamics/detail/SoftBodyNodeAspect.hpp +132 -0
  316. include/dart/dynamics/detail/SpecializedNodeManager.hpp +324 -0
  317. include/dart/dynamics/detail/TemplatedJacobianNode.hpp +294 -0
  318. include/dart/dynamics/detail/TranslationalJoint2DAspect.hpp +140 -0
  319. include/dart/dynamics/detail/UniversalJointAspect.hpp +86 -0
  320. include/dart/dynamics/dynamics.hpp +14 -0
  321. include/dart/dynamics/ikfast.h +345 -0
  322. include/dart/external/convhull_3d/convhull_3d.h +1878 -0
  323. include/dart/external/convhull_3d/safe_convhull_3d.h +53 -0
  324. include/dart/external/odelcpsolver/common.h +418 -0
  325. include/dart/external/odelcpsolver/error.h +62 -0
  326. include/dart/external/odelcpsolver/lcp.h +75 -0
  327. include/dart/external/odelcpsolver/matrix.h +277 -0
  328. include/dart/external/odelcpsolver/misc.h +82 -0
  329. include/dart/external/odelcpsolver/odeconfig.h +110 -0
  330. include/dart/gui/osg/DefaultEventHandler.hpp +237 -0
  331. include/dart/gui/osg/DragAndDrop.hpp +360 -0
  332. include/dart/gui/osg/GridVisual.hpp +218 -0
  333. include/dart/gui/osg/ImGuiHandler.hpp +113 -0
  334. include/dart/gui/osg/ImGuiViewer.hpp +83 -0
  335. include/dart/gui/osg/ImGuiWidget.hpp +91 -0
  336. include/dart/gui/osg/IncludeImGui.hpp +75 -0
  337. include/dart/gui/osg/InteractiveFrame.hpp +170 -0
  338. include/dart/gui/osg/MouseEventHandler.hpp +76 -0
  339. include/dart/gui/osg/RealTimeWorldNode.hpp +126 -0
  340. include/dart/gui/osg/ShapeFrameNode.hpp +117 -0
  341. include/dart/gui/osg/SupportPolygonVisual.hpp +202 -0
  342. include/dart/gui/osg/TrackballManipulator.hpp +97 -0
  343. include/dart/gui/osg/Utils.hpp +120 -0
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345
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346
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347
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348
+ </dynamics>
349
+ <use_parent_model_frame>0</use_parent_model_frame>
350
+ </axis>
351
+ </joint>
352
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353
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354
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355
+ <pose>0 -0.065 0 0 -0 0</pose>
356
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357
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358
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359
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360
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361
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362
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363
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364
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365
+ </inertial>
366
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367
+ <pose>0 0 0 0 -0 0</pose>
368
+ <geometry>
369
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370
+ <scale>1 1 1</scale>
371
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372
+ </mesh>
373
+ </geometry>
374
+ </collision>
375
+ <visual name='l_uarm_visual'>
376
+ <pose>0 0 0 0 -0 0</pose>
377
+ <geometry>
378
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379
+ <scale>1 1 1</scale>
380
+ <uri>l_uarm.dae</uri>
381
+ </mesh>
382
+ </geometry>
383
+ </visual>
384
+ <velocity_decay>
385
+ <linear>0</linear>
386
+ <angular>0</angular>
387
+ </velocity_decay>
388
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389
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390
+ <child>l_uarm</child>
391
+ <parent>l_scap</parent>
392
+ <axis>
393
+ <xyz>0 1 0</xyz>
394
+ <limit>
395
+ <lower>0</lower>
396
+ <upper>3.14159</upper>
397
+ <effort>114</effort>
398
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399
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400
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401
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402
+ </dynamics>
403
+ <use_parent_model_frame>0</use_parent_model_frame>
404
+ </axis>
405
+ </joint>
406
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407
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408
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409
+ <pose>0 0 0 0 -0 0</pose>
410
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411
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412
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413
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414
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415
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416
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417
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418
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419
+ </inertial>
420
+ <collision name='l_larm_collision'>
421
+ <pose>0 0 0 0 -0 0</pose>
422
+ <geometry>
423
+ <mesh>
424
+ <scale>1 1 1</scale>
425
+ <uri>l_larm.stl</uri>
426
+ </mesh>
427
+ </geometry>
428
+ </collision>
429
+ <visual name='l_larm_visual'>
430
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431
+ <geometry>
432
+ <mesh>
433
+ <scale>1 1 1</scale>
434
+ <uri>l_larm.dae</uri>
435
+ </mesh>
436
+ </geometry>
437
+ </visual>
438
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439
+ <linear>0</linear>
440
+ <angular>0</angular>
441
+ </velocity_decay>
442
+ </link>
443
+ <joint name='l_arm_elx' type='revolute'>
444
+ <child>l_larm</child>
445
+ <parent>l_uarm</parent>
446
+ <axis>
447
+ <xyz>1 0 0</xyz>
448
+ <limit>
449
+ <lower>0</lower>
450
+ <upper>2.35619</upper>
451
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452
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453
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454
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455
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456
+ </dynamics>
457
+ <use_parent_model_frame>0</use_parent_model_frame>
458
+ </axis>
459
+ </joint>
460
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461
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462
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463
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464
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465
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466
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467
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468
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469
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470
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471
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472
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473
+ </inertial>
474
+ <collision name='l_farm_collision'>
475
+ <pose>0 0 0 0 -0 0</pose>
476
+ <geometry>
477
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478
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479
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480
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481
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482
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483
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484
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485
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486
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487
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488
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489
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490
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491
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492
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493
+ <linear>0</linear>
494
+ <angular>0</angular>
495
+ </velocity_decay>
496
+ </link>
497
+ <joint name='l_arm_wry' type='revolute'>
498
+ <child>l_farm</child>
499
+ <parent>l_larm</parent>
500
+ <axis>
501
+ <xyz>0 1 0</xyz>
502
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503
+ <lower>0</lower>
504
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505
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506
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507
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508
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509
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510
+ </dynamics>
511
+ <use_parent_model_frame>0</use_parent_model_frame>
512
+ </axis>
513
+ </joint>
514
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515
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516
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517
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518
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519
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520
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521
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522
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523
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524
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525
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526
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527
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528
+ <collision name='l_hand_collision'>
529
+ <pose>0 0 0 0 -0 0</pose>
530
+ <geometry>
531
+ <mesh>
532
+ <scale>1 1 1</scale>
533
+ <uri>l_hand.stl</uri>
534
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535
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536
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537
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538
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539
+ <geometry>
540
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541
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542
+ <uri>l_hand.dae</uri>
543
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544
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545
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546
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547
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548
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549
+ </velocity_decay>
550
+ </link>
551
+ <joint name='l_arm_wrx' type='revolute'>
552
+ <child>l_hand</child>
553
+ <parent>l_farm</parent>
554
+ <axis>
555
+ <xyz>1 0 0</xyz>
556
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557
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558
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559
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560
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561
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562
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563
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564
+ </dynamics>
565
+ <use_parent_model_frame>0</use_parent_model_frame>
566
+ </axis>
567
+ </joint>
568
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569
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570
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571
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572
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573
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574
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575
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576
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577
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578
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579
+ <izz>0.004</izz>
580
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581
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582
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583
+ <pose>0 0 0 0 -0 0</pose>
584
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585
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586
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587
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588
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589
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590
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591
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592
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593
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594
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595
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596
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597
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598
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599
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600
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601
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602
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603
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604
+ </link>
605
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606
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607
+ <parent>utorso</parent>
608
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609
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610
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611
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612
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613
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614
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615
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616
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617
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618
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619
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620
+ </axis>
621
+ </joint>
622
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623
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624
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625
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626
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627
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628
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629
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630
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631
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632
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633
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634
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635
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636
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637
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638
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639
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640
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641
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642
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643
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644
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645
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646
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647
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648
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649
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650
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651
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652
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653
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654
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655
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656
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657
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658
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659
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660
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661
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662
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663
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664
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665
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666
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667
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668
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669
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670
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671
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672
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673
+ <use_parent_model_frame>0</use_parent_model_frame>
674
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675
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676
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677
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678
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679
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680
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681
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682
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683
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684
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685
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686
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687
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688
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689
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690
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691
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692
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693
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694
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695
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696
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697
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698
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699
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700
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701
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702
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703
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704
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705
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706
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707
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708
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709
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710
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711
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712
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713
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714
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715
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716
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717
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718
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719
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720
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721
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722
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723
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724
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725
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726
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727
+ <use_parent_model_frame>0</use_parent_model_frame>
728
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729
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730
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731
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732
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733
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734
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735
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736
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737
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738
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739
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740
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741
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742
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743
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744
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745
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746
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747
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748
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749
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750
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751
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752
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753
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754
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755
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756
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757
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758
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759
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760
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761
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762
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763
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764
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765
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766
+ </link>
767
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768
+ <child>r_larm</child>
769
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770
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771
+ <xyz>1 0 0</xyz>
772
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773
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774
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775
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776
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777
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778
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779
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780
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781
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782
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783
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784
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785
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786
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787
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788
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789
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790
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791
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794
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796
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797
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798
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799
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800
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801
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802
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803
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804
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805
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806
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807
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809
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810
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811
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812
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813
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814
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815
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816
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817
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818
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819
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820
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821
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822
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823
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824
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825
+ <xyz>0 1 0</xyz>
826
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827
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828
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829
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830
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831
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832
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833
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834
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835
+ <use_parent_model_frame>0</use_parent_model_frame>
836
+ </axis>
837
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838
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839
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840
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841
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842
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843
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844
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845
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846
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847
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849
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850
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851
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852
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853
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854
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855
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856
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857
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858
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859
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860
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861
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862
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863
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864
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865
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866
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867
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868
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869
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870
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871
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872
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873
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874
+ </link>
875
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876
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877
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878
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879
+ <xyz>1 0 0</xyz>
880
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881
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882
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883
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884
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885
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886
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887
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888
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889
+ <use_parent_model_frame>0</use_parent_model_frame>
890
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891
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892
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893
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894
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895
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896
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897
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898
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899
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900
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901
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902
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903
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904
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905
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906
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907
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908
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909
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910
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911
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912
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913
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914
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915
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916
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917
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918
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919
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920
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921
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922
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923
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924
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925
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926
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927
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928
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1479
+ <angular>0</angular>
1480
+ </velocity_decay>
1481
+ </link>
1482
+ <joint name='r_leg_aky' type='revolute'>
1483
+ <child>r_talus</child>
1484
+ <parent>r_lleg</parent>
1485
+ <axis>
1486
+ <xyz>0 1 0</xyz>
1487
+ <limit>
1488
+ <lower>-1</lower>
1489
+ <upper>0.7</upper>
1490
+ <effort>700</effort>
1491
+ <velocity>12</velocity>
1492
+ </limit>
1493
+ <dynamics>
1494
+ <damping>0.1</damping>
1495
+ </dynamics>
1496
+ <use_parent_model_frame>0</use_parent_model_frame>
1497
+ </axis>
1498
+ </joint>
1499
+ <link name='r_foot'>
1500
+ <pose>0 -0.089 -0.846 0 -0 0</pose>
1501
+ <inertial>
1502
+ <pose>0.027 0 -0.067 0 -0 0</pose>
1503
+ <mass>2.05</mass>
1504
+ <inertia>
1505
+ <ixx>0.002</ixx>
1506
+ <ixy>0</ixy>
1507
+ <ixz>0</ixz>
1508
+ <iyy>0.007</iyy>
1509
+ <iyz>0</iyz>
1510
+ <izz>0.008</izz>
1511
+ </inertia>
1512
+ </inertial>
1513
+ <soft_shape>
1514
+ <total_mass>0.5</total_mass>
1515
+ <pose>0.05 0 -0.06 0 0 0</pose>
1516
+ <geometry>
1517
+ <box>
1518
+ <size>0.275 0.15 0.075</size>
1519
+ <frags>2 2 2</frags>
1520
+ </box>
1521
+ </geometry>
1522
+ <kv>50000.0</kv>
1523
+ <ke>100.0</ke>
1524
+ <damp>1000.0</damp>
1525
+ </soft_shape>
1526
+ <collision name='r_foot_collision'>
1527
+ <pose>0 0 0 0 -0 0</pose>
1528
+ <geometry>
1529
+ <mesh>
1530
+ <scale>1 1 1</scale>
1531
+ <uri>r_foot.stl</uri>
1532
+ </mesh>
1533
+ </geometry>
1534
+ </collision>
1535
+ <visual name='r_foot_visual'>
1536
+ <pose>0 0 0 0 -0 0</pose>
1537
+ <geometry>
1538
+ <mesh>
1539
+ <scale>1 1 1</scale>
1540
+ <uri>r_foot.dae</uri>
1541
+ </mesh>
1542
+ </geometry>
1543
+ </visual>
1544
+ <velocity_decay>
1545
+ <linear>0</linear>
1546
+ <angular>0</angular>
1547
+ </velocity_decay>
1548
+ </link>
1549
+ <joint name='r_leg_akx' type='revolute'>
1550
+ <child>r_foot</child>
1551
+ <parent>r_talus</parent>
1552
+ <axis>
1553
+ <xyz>1 0 0</xyz>
1554
+ <limit>
1555
+ <lower>-0.8</lower>
1556
+ <upper>0.8</upper>
1557
+ <effort>90</effort>
1558
+ <velocity>12</velocity>
1559
+ </limit>
1560
+ <dynamics>
1561
+ <damping>0.1</damping>
1562
+ </dynamics>
1563
+ <use_parent_model_frame>0</use_parent_model_frame>
1564
+ </axis>
1565
+ </joint>
1566
+ </model>
1567
+ </sdf>