PyPI - warp-lang - Versions diffs - 1.0.2__py3-none-manylinux2014_x86_64.whl → 1.1.0__py3-none-manylinux2014_x86_64.whl - Mend

warp-lang 1.0.2__py3-none-manylinux2014_x86_64.whl → 1.1.0__py3-none-manylinux2014_x86_64.whl

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

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Files changed (346) hide show

warp/__init__.py +108 -97
warp/__init__.pyi +1 -1
warp/bin/warp-clang.so +0 -0
warp/bin/warp.so +0 -0
warp/build.py +115 -113
warp/build_dll.py +383 -375
warp/builtins.py +3425 -3354
warp/codegen.py +2878 -2792
warp/config.py +40 -36
warp/constants.py +45 -45
warp/context.py +5194 -5102
warp/dlpack.py +442 -442
warp/examples/__init__.py +16 -16
warp/examples/assets/bear.usd +0 -0
warp/examples/assets/bunny.usd +0 -0
warp/examples/assets/cartpole.urdf +110 -110
warp/examples/assets/crazyflie.usd +0 -0
warp/examples/assets/cube.usd +0 -0
warp/examples/assets/nv_ant.xml +92 -92
warp/examples/assets/nv_humanoid.xml +183 -183
warp/examples/assets/quadruped.urdf +267 -267
warp/examples/assets/rocks.nvdb +0 -0
warp/examples/assets/rocks.usd +0 -0
warp/examples/assets/sphere.usd +0 -0
warp/examples/benchmarks/benchmark_api.py +383 -383
warp/examples/benchmarks/benchmark_cloth.py +278 -277
warp/examples/benchmarks/benchmark_cloth_cupy.py +88 -88
warp/examples/benchmarks/benchmark_cloth_jax.py +97 -100
warp/examples/benchmarks/benchmark_cloth_numba.py +146 -142
warp/examples/benchmarks/benchmark_cloth_numpy.py +77 -77
warp/examples/benchmarks/benchmark_cloth_pytorch.py +86 -86
warp/examples/benchmarks/benchmark_cloth_taichi.py +112 -112
warp/examples/benchmarks/benchmark_cloth_warp.py +146 -146
warp/examples/benchmarks/benchmark_launches.py +295 -295
warp/examples/browse.py +29 -29
warp/examples/core/example_dem.py +234 -219
warp/examples/core/example_fluid.py +293 -267
warp/examples/core/example_graph_capture.py +144 -126
warp/examples/core/example_marching_cubes.py +188 -174
warp/examples/core/example_mesh.py +174 -155
warp/examples/core/example_mesh_intersect.py +205 -193
warp/examples/core/example_nvdb.py +176 -170
warp/examples/core/example_raycast.py +105 -90
warp/examples/core/example_raymarch.py +199 -178
warp/examples/core/example_render_opengl.py +185 -141
warp/examples/core/example_sph.py +405 -387
warp/examples/core/example_torch.py +222 -181
warp/examples/core/example_wave.py +263 -248
warp/examples/fem/bsr_utils.py +378 -380
warp/examples/fem/example_apic_fluid.py +407 -389
warp/examples/fem/example_convection_diffusion.py +182 -168
warp/examples/fem/example_convection_diffusion_dg.py +219 -209
warp/examples/fem/example_convection_diffusion_dg0.py +204 -194
warp/examples/fem/example_deformed_geometry.py +177 -159
warp/examples/fem/example_diffusion.py +201 -173
warp/examples/fem/example_diffusion_3d.py +177 -152
warp/examples/fem/example_diffusion_mgpu.py +221 -214
warp/examples/fem/example_mixed_elasticity.py +244 -222
warp/examples/fem/example_navier_stokes.py +259 -243
warp/examples/fem/example_stokes.py +220 -192
warp/examples/fem/example_stokes_transfer.py +265 -249
warp/examples/fem/mesh_utils.py +133 -109
warp/examples/fem/plot_utils.py +292 -287
warp/examples/optim/example_bounce.py +260 -246
warp/examples/optim/example_cloth_throw.py +222 -209
warp/examples/optim/example_diffray.py +566 -536
warp/examples/optim/example_drone.py +864 -835
warp/examples/optim/example_inverse_kinematics.py +176 -168
warp/examples/optim/example_inverse_kinematics_torch.py +185 -169
warp/examples/optim/example_spring_cage.py +239 -231
warp/examples/optim/example_trajectory.py +223 -199
warp/examples/optim/example_walker.py +306 -293
warp/examples/sim/example_cartpole.py +139 -129
warp/examples/sim/example_cloth.py +196 -186
warp/examples/sim/example_granular.py +124 -111
warp/examples/sim/example_granular_collision_sdf.py +197 -186
warp/examples/sim/example_jacobian_ik.py +236 -214
warp/examples/sim/example_particle_chain.py +118 -105
warp/examples/sim/example_quadruped.py +193 -180
warp/examples/sim/example_rigid_chain.py +197 -187
warp/examples/sim/example_rigid_contact.py +189 -177
warp/examples/sim/example_rigid_force.py +127 -125
warp/examples/sim/example_rigid_gyroscopic.py +109 -95
warp/examples/sim/example_rigid_soft_contact.py +134 -122
warp/examples/sim/example_soft_body.py +190 -177
warp/fabric.py +337 -335
warp/fem/__init__.py +60 -27
warp/fem/cache.py +401 -388
warp/fem/dirichlet.py +178 -179
warp/fem/domain.py +262 -263
warp/fem/field/__init__.py +100 -101
warp/fem/field/field.py +148 -149
warp/fem/field/nodal_field.py +298 -299
warp/fem/field/restriction.py +22 -21
warp/fem/field/test.py +180 -181
warp/fem/field/trial.py +183 -183
warp/fem/geometry/__init__.py +15 -19
warp/fem/geometry/closest_point.py +69 -70
warp/fem/geometry/deformed_geometry.py +270 -271
warp/fem/geometry/element.py +744 -744
warp/fem/geometry/geometry.py +184 -186
warp/fem/geometry/grid_2d.py +380 -373
warp/fem/geometry/grid_3d.py +441 -435
warp/fem/geometry/hexmesh.py +953 -953
warp/fem/geometry/partition.py +374 -376
warp/fem/geometry/quadmesh_2d.py +532 -532
warp/fem/geometry/tetmesh.py +840 -840
warp/fem/geometry/trimesh_2d.py +577 -577
warp/fem/integrate.py +1630 -1615
warp/fem/operator.py +190 -191
warp/fem/polynomial.py +214 -213
warp/fem/quadrature/__init__.py +2 -2
warp/fem/quadrature/pic_quadrature.py +243 -245
warp/fem/quadrature/quadrature.py +295 -294
warp/fem/space/__init__.py +294 -292
warp/fem/space/basis_space.py +488 -489
warp/fem/space/collocated_function_space.py +100 -105
warp/fem/space/dof_mapper.py +236 -236
warp/fem/space/function_space.py +148 -145
warp/fem/space/grid_2d_function_space.py +267 -267
warp/fem/space/grid_3d_function_space.py +305 -306
warp/fem/space/hexmesh_function_space.py +350 -352
warp/fem/space/partition.py +350 -350
warp/fem/space/quadmesh_2d_function_space.py +368 -369
warp/fem/space/restriction.py +158 -160
warp/fem/space/shape/__init__.py +13 -15
warp/fem/space/shape/cube_shape_function.py +738 -738
warp/fem/space/shape/shape_function.py +102 -103
warp/fem/space/shape/square_shape_function.py +611 -611
warp/fem/space/shape/tet_shape_function.py +565 -567
warp/fem/space/shape/triangle_shape_function.py +429 -429
warp/fem/space/tetmesh_function_space.py +294 -292
warp/fem/space/topology.py +297 -295
warp/fem/space/trimesh_2d_function_space.py +223 -221
warp/fem/types.py +77 -77
warp/fem/utils.py +495 -495
warp/jax.py +166 -141
warp/jax_experimental.py +341 -339
warp/native/array.h +1072 -1025
warp/native/builtin.h +1560 -1560
warp/native/bvh.cpp +398 -398
warp/native/bvh.cu +525 -525
warp/native/bvh.h +429 -429
warp/native/clang/clang.cpp +495 -464
warp/native/crt.cpp +31 -31
warp/native/crt.h +334 -334
warp/native/cuda_crt.h +1049 -1049
warp/native/cuda_util.cpp +549 -540
warp/native/cuda_util.h +288 -203
warp/native/cutlass_gemm.cpp +34 -34
warp/native/cutlass_gemm.cu +372 -372
warp/native/error.cpp +66 -66
warp/native/error.h +27 -27
warp/native/fabric.h +228 -228
warp/native/hashgrid.cpp +301 -278
warp/native/hashgrid.cu +78 -77
warp/native/hashgrid.h +227 -227
warp/native/initializer_array.h +32 -32
warp/native/intersect.h +1204 -1204
warp/native/intersect_adj.h +365 -365
warp/native/intersect_tri.h +322 -322
warp/native/marching.cpp +2 -2
warp/native/marching.cu +497 -497
warp/native/marching.h +2 -2
warp/native/mat.h +1498 -1498
warp/native/matnn.h +333 -333
warp/native/mesh.cpp +203 -203
warp/native/mesh.cu +293 -293
warp/native/mesh.h +1887 -1887
warp/native/nanovdb/NanoVDB.h +4782 -4782
warp/native/nanovdb/PNanoVDB.h +2553 -2553
warp/native/nanovdb/PNanoVDBWrite.h +294 -294
warp/native/noise.h +850 -850
warp/native/quat.h +1084 -1084
warp/native/rand.h +299 -299
warp/native/range.h +108 -108
warp/native/reduce.cpp +156 -156
warp/native/reduce.cu +348 -348
warp/native/runlength_encode.cpp +61 -61
warp/native/runlength_encode.cu +46 -46
warp/native/scan.cpp +30 -30
warp/native/scan.cu +36 -36
warp/native/scan.h +7 -7
warp/native/solid_angle.h +442 -442
warp/native/sort.cpp +94 -94
warp/native/sort.cu +97 -97
warp/native/sort.h +14 -14
warp/native/sparse.cpp +337 -337
warp/native/sparse.cu +544 -544
warp/native/spatial.h +630 -630
warp/native/svd.h +562 -562
warp/native/temp_buffer.h +30 -30
warp/native/vec.h +1132 -1132
warp/native/volume.cpp +297 -297
warp/native/volume.cu +32 -32
warp/native/volume.h +538 -538
warp/native/volume_builder.cu +425 -425
warp/native/volume_builder.h +19 -19
warp/native/warp.cpp +1057 -1052
warp/native/warp.cu +2943 -2828
warp/native/warp.h +313 -305
warp/optim/__init__.py +9 -9
warp/optim/adam.py +120 -120
warp/optim/linear.py +1104 -939
warp/optim/sgd.py +104 -92
warp/render/__init__.py +10 -10
warp/render/render_opengl.py +3217 -3204
warp/render/render_usd.py +768 -749
warp/render/utils.py +152 -150
warp/sim/__init__.py +52 -59
warp/sim/articulation.py +685 -685
warp/sim/collide.py +1594 -1590
warp/sim/import_mjcf.py +489 -481
warp/sim/import_snu.py +220 -221
warp/sim/import_urdf.py +536 -516
warp/sim/import_usd.py +887 -881
warp/sim/inertia.py +316 -317
warp/sim/integrator.py +234 -233
warp/sim/integrator_euler.py +1956 -1956
warp/sim/integrator_featherstone.py +1910 -1991
warp/sim/integrator_xpbd.py +3294 -3312
warp/sim/model.py +4473 -4314
warp/sim/particles.py +113 -112
warp/sim/render.py +417 -403
warp/sim/utils.py +413 -410
warp/sparse.py +1227 -1227
warp/stubs.py +2109 -2469
warp/tape.py +1162 -225
warp/tests/__init__.py +1 -1
warp/tests/__main__.py +4 -4
warp/tests/assets/torus.usda +105 -105
warp/tests/aux_test_class_kernel.py +26 -26
warp/tests/aux_test_compile_consts_dummy.py +10 -10
warp/tests/aux_test_conditional_unequal_types_kernels.py +21 -21
warp/tests/aux_test_dependent.py +22 -22
warp/tests/aux_test_grad_customs.py +23 -23
warp/tests/aux_test_reference.py +11 -11
warp/tests/aux_test_reference_reference.py +10 -10
warp/tests/aux_test_square.py +17 -17
warp/tests/aux_test_unresolved_func.py +14 -14
warp/tests/aux_test_unresolved_symbol.py +14 -14
warp/tests/disabled_kinematics.py +239 -239
warp/tests/run_coverage_serial.py +31 -31
warp/tests/test_adam.py +157 -157
warp/tests/test_arithmetic.py +1124 -1124
warp/tests/test_array.py +2417 -2326
warp/tests/test_array_reduce.py +150 -150
warp/tests/test_async.py +668 -656
warp/tests/test_atomic.py +141 -141
warp/tests/test_bool.py +204 -149
warp/tests/test_builtins_resolution.py +1292 -1292
warp/tests/test_bvh.py +164 -171
warp/tests/test_closest_point_edge_edge.py +228 -228
warp/tests/test_codegen.py +566 -553
warp/tests/test_compile_consts.py +97 -101
warp/tests/test_conditional.py +246 -246
warp/tests/test_copy.py +232 -215
warp/tests/test_ctypes.py +632 -632
warp/tests/test_dense.py +67 -67
warp/tests/test_devices.py +91 -98
warp/tests/test_dlpack.py +530 -529
warp/tests/test_examples.py +400 -378
warp/tests/test_fabricarray.py +955 -955
warp/tests/test_fast_math.py +62 -54
warp/tests/test_fem.py +1277 -1278
warp/tests/test_fp16.py +130 -130
warp/tests/test_func.py +338 -337
warp/tests/test_generics.py +571 -571
warp/tests/test_grad.py +746 -640
warp/tests/test_grad_customs.py +333 -336
warp/tests/test_hash_grid.py +210 -164
warp/tests/test_import.py +39 -39
warp/tests/test_indexedarray.py +1134 -1134
warp/tests/test_intersect.py +67 -67
warp/tests/test_jax.py +307 -307
warp/tests/test_large.py +167 -164
warp/tests/test_launch.py +354 -354
warp/tests/test_lerp.py +261 -261
warp/tests/test_linear_solvers.py +191 -171
warp/tests/test_lvalue.py +421 -493
warp/tests/test_marching_cubes.py +65 -65
warp/tests/test_mat.py +1801 -1827
warp/tests/test_mat_lite.py +115 -115
warp/tests/test_mat_scalar_ops.py +2907 -2889
warp/tests/test_math.py +126 -193
warp/tests/test_matmul.py +500 -499
warp/tests/test_matmul_lite.py +410 -410
warp/tests/test_mempool.py +188 -190
warp/tests/test_mesh.py +284 -324
warp/tests/test_mesh_query_aabb.py +228 -241
warp/tests/test_mesh_query_point.py +692 -702
warp/tests/test_mesh_query_ray.py +292 -303
warp/tests/test_mlp.py +276 -276
warp/tests/test_model.py +110 -110
warp/tests/test_modules_lite.py +39 -39
warp/tests/test_multigpu.py +163 -163
warp/tests/test_noise.py +248 -248
warp/tests/test_operators.py +250 -250
warp/tests/test_options.py +123 -125
warp/tests/test_peer.py +133 -137
warp/tests/test_pinned.py +78 -78
warp/tests/test_print.py +54 -54
warp/tests/test_quat.py +2086 -2086
warp/tests/test_rand.py +288 -288
warp/tests/test_reload.py +217 -217
warp/tests/test_rounding.py +179 -179
warp/tests/test_runlength_encode.py +190 -190
warp/tests/test_sim_grad.py +243 -0
warp/tests/test_sim_kinematics.py +91 -97
warp/tests/test_smoothstep.py +168 -168
warp/tests/test_snippet.py +305 -266
warp/tests/test_sparse.py +468 -460
warp/tests/test_spatial.py +2148 -2148
warp/tests/test_streams.py +486 -473
warp/tests/test_struct.py +710 -675
warp/tests/test_tape.py +173 -148
warp/tests/test_torch.py +743 -743
warp/tests/test_transient_module.py +87 -87
warp/tests/test_types.py +556 -659
warp/tests/test_utils.py +490 -499
warp/tests/test_vec.py +1264 -1268
warp/tests/test_vec_lite.py +73 -73
warp/tests/test_vec_scalar_ops.py +2099 -2099
warp/tests/test_verify_fp.py +94 -94
warp/tests/test_volume.py +737 -736
warp/tests/test_volume_write.py +255 -265
warp/tests/unittest_serial.py +37 -37
warp/tests/unittest_suites.py +363 -359
warp/tests/unittest_utils.py +603 -578
warp/tests/unused_test_misc.py +71 -71
warp/tests/walkthrough_debug.py +85 -85
warp/thirdparty/appdirs.py +598 -598
warp/thirdparty/dlpack.py +143 -143
warp/thirdparty/unittest_parallel.py +566 -561
warp/torch.py +321 -295
warp/types.py +4504 -4450
warp/utils.py +1008 -821
{warp_lang-1.0.2.dist-info → warp_lang-1.1.0.dist-info}/LICENSE.md +126 -126
{warp_lang-1.0.2.dist-info → warp_lang-1.1.0.dist-info}/METADATA +338 -400
warp_lang-1.1.0.dist-info/RECORD +352 -0
warp/examples/assets/cube.usda +0 -42
warp/examples/assets/sphere.usda +0 -56
warp/examples/assets/torus.usda +0 -105
warp_lang-1.0.2.dist-info/RECORD +0 -352
{warp_lang-1.0.2.dist-info → warp_lang-1.1.0.dist-info}/WHEEL +0 -0
{warp_lang-1.0.2.dist-info → warp_lang-1.1.0.dist-info}/top_level.txt +0 -0

warp/examples/assets/quadruped.urdf CHANGED Viewed

@@ -1,268 +1,268 @@
-<?xml version="1.0" encoding="utf-8"?>
-<robot name="quadruped">
-    <link name="base">
-        <collision>
-            <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
-            <geometry>
-                <cylinder length="0.75" radius="0.1"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 0.024"/>
-            <mass value="6.222"/>
-            <inertia ixx="0.017938806" ixy="0.00387963" ixz="0.001500772" iyy="0.370887745" iyz="6.8963e-05" izz="0.372497653"/>
-        </inertial>
-    </link>
-    <joint name="LF_HAA" type="revolute">
-        <parent link="base"/>
-        <child link="LF_HAA"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <origin rpy="0 0 0" xyz="0.2999 0.104 0.0"/>
-    </joint>
-    <link name="LF_HAA">
-        <collision>
-            <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
-            <geometry>
-                <cylinder length="0.05" radius="0.04"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 0.00046"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="LF_HFE" type="revolute">
-        <parent link="LF_HAA"/>
-        <child link="LF_THIGH"/>
-        <origin rpy="0 0 1.57079632679" xyz="0 0.05 0"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <dynamics damping="0.0" friction="0.0"/>
-    </joint>
-    <link name="LF_THIGH">
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <geometry>
-                <cylinder length="0.25" radius="0.02"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="LF_KFE" type="revolute">
-        <parent link="LF_THIGH"/>
-        <child link="LF_SHANK"/>
-        <origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <dynamics damping="0.0" friction="0.0"/>
-    </joint>
-    <link name="LF_SHANK">
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <geometry>
-                <cylinder length="0.25" radius="0.02"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="RF_HAA" type="revolute">
-        <parent link="base"/>
-        <child link="RF_HAA"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <origin rpy="0 0 0" xyz="0.2999 -0.104 0.0"/>
-    </joint>
-    <link name="RF_HAA">
-        <collision>
-            <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
-            <geometry>
-                <cylinder length="0.05" radius="0.04"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 0.00046"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="RF_HFE" type="revolute">
-        <parent link="RF_HAA"/>
-        <child link="RF_THIGH"/>
-        <origin rpy="0 0 -1.57079632679" xyz="0 -0.05 0"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <dynamics damping="0.0" friction="0.0"/>
-    </joint>
-    <link name="RF_THIGH">
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <geometry>
-                <cylinder length="0.25" radius="0.02"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="RF_KFE" type="revolute">
-        <parent link="RF_THIGH"/>
-        <child link="RF_SHANK"/>
-        <origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <dynamics damping="0.0" friction="0.0"/>
-    </joint>
-    <link name="RF_SHANK">
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <geometry>
-                <cylinder length="0.25" radius="0.02"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="LH_HAA" type="revolute">
-        <parent link="base"/>
-        <child link="LH_HAA"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <origin rpy="0 0 3.1415" xyz="-0.2999 0.104 0.0"/>
-    </joint>
-    <link name="LH_HAA">
-        <collision>
-            <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
-            <geometry>
-                <cylinder length="0.05" radius="0.04"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 0.00046"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="LH_HFE" type="revolute">
-        <parent link="LH_HAA"/>
-        <child link="LH_THIGH"/>
-        <origin rpy="0 0 1.57079632679" xyz="0 -0.05 0"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <dynamics damping="0.0" friction="0.0"/>
-    </joint>
-    <link name="LH_THIGH">
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <geometry>
-                <cylinder length="0.25" radius="0.02"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="LH_KFE" type="revolute">
-        <parent link="LH_THIGH"/>
-        <child link="LH_SHANK"/>
-        <origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <dynamics damping="0.0" friction="0.0"/>
-    </joint>
-    <link name="LH_SHANK">
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <geometry>
-                <cylinder length="0.25" radius="0.02"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="RH_HAA" type="revolute">
-        <parent link="base"/>
-        <child link="RH_HAA"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <origin rpy="0 0 3.1415" xyz="-0.2999 -0.104 0.0"/>
-    </joint>
-    <link name="RH_HAA">
-        <collision>
-            <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
-            <geometry>
-                <cylinder length="0.05" radius="0.04"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 0.00046"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="RH_HFE" type="revolute">
-        <parent link="RH_HAA"/>
-        <child link="RH_THIGH"/>
-        <origin rpy="0 0 -1.57079632679" xyz="0 0.05 0"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <dynamics damping="0.0" friction="0.0"/>
-    </joint>
-    <link name="RH_THIGH">
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <geometry>
-                <cylinder length="0.25" radius="0.02"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="RH_KFE" type="revolute">
-        <parent link="RH_THIGH"/>
-        <child link="RH_SHANK"/>
-        <origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <dynamics damping="0.0" friction="0.0"/>
-    </joint>
-    <link name="RH_SHANK">
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <geometry>
-                <cylinder length="0.25" radius="0.02"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="quadruped">
+    <link name="base">
+        <collision>
+            <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+            <geometry>
+                <cylinder length="0.75" radius="0.1"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0.024"/>
+            <mass value="6.222"/>
+            <inertia ixx="0.017938806" ixy="0.00387963" ixz="0.001500772" iyy="0.370887745" iyz="6.8963e-05" izz="0.372497653"/>
+        </inertial>
+    </link>
+    <joint name="LF_HAA" type="revolute">
+        <parent link="base"/>
+        <child link="LF_HAA"/>
+        <axis xyz="1 0 0"/>
+        <limit effort="80.0" velocity="20." />
+        <origin rpy="0 0 0" xyz="0.2999 0.104 0.0"/>
+    </joint>
+    <link name="LF_HAA">
+        <collision>
+            <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+            <geometry>
+                <cylinder length="0.05" radius="0.04"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0.00046"/>
+            <mass value="2.04"/>
+            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
+        </inertial>
+    </link>
+    <joint name="LF_HFE" type="revolute">
+        <parent link="LF_HAA"/>
+        <child link="LF_THIGH"/>
+        <origin rpy="0 0 1.57079632679" xyz="0 0.05 0"/>
+        <axis xyz="1 0 0"/>
+        <limit effort="80.0" velocity="20." />
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+    <link name="LF_THIGH">
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
+            <geometry>
+                <cylinder length="0.25" radius="0.02"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
+            <mass value="2.04"/>
+            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
+        </inertial>
+    </link>
+    <joint name="LF_KFE" type="revolute">
+        <parent link="LF_THIGH"/>
+        <child link="LF_SHANK"/>
+        <origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
+        <axis xyz="1 0 0"/>
+        <limit effort="80.0" velocity="20." />
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+    <link name="LF_SHANK">
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
+            <geometry>
+                <cylinder length="0.25" radius="0.02"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
+            <mass value="2.04"/>
+            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
+        </inertial>
+    </link>
+    <joint name="RF_HAA" type="revolute">
+        <parent link="base"/>
+        <child link="RF_HAA"/>
+        <axis xyz="1 0 0"/>
+        <limit effort="80.0" velocity="20." />
+        <origin rpy="0 0 0" xyz="0.2999 -0.104 0.0"/>
+    </joint>
+    <link name="RF_HAA">
+        <collision>
+            <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+            <geometry>
+                <cylinder length="0.05" radius="0.04"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0.00046"/>
+            <mass value="2.04"/>
+            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
+        </inertial>
+    </link>
+    <joint name="RF_HFE" type="revolute">
+        <parent link="RF_HAA"/>
+        <child link="RF_THIGH"/>
+        <origin rpy="0 0 -1.57079632679" xyz="0 -0.05 0"/>
+        <axis xyz="1 0 0"/>
+        <limit effort="80.0" velocity="20." />
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+    <link name="RF_THIGH">
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
+            <geometry>
+                <cylinder length="0.25" radius="0.02"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
+            <mass value="2.04"/>
+            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
+        </inertial>
+    </link>
+    <joint name="RF_KFE" type="revolute">
+        <parent link="RF_THIGH"/>
+        <child link="RF_SHANK"/>
+        <origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
+        <axis xyz="1 0 0"/>
+        <limit effort="80.0" velocity="20." />
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+    <link name="RF_SHANK">
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
+            <geometry>
+                <cylinder length="0.25" radius="0.02"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
+            <mass value="2.04"/>
+            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
+        </inertial>
+    </link>
+    <joint name="LH_HAA" type="revolute">
+        <parent link="base"/>
+        <child link="LH_HAA"/>
+        <axis xyz="1 0 0"/>
+        <limit effort="80.0" velocity="20." />
+        <origin rpy="0 0 3.1415" xyz="-0.2999 0.104 0.0"/>
+    </joint>
+    <link name="LH_HAA">
+        <collision>
+            <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+            <geometry>
+                <cylinder length="0.05" radius="0.04"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0.00046"/>
+            <mass value="2.04"/>
+            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
+        </inertial>
+    </link>
+    <joint name="LH_HFE" type="revolute">
+        <parent link="LH_HAA"/>
+        <child link="LH_THIGH"/>
+        <origin rpy="0 0 1.57079632679" xyz="0 -0.05 0"/>
+        <axis xyz="1 0 0"/>
+        <limit effort="80.0" velocity="20." />
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+    <link name="LH_THIGH">
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
+            <geometry>
+                <cylinder length="0.25" radius="0.02"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
+            <mass value="2.04"/>
+            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
+        </inertial>
+    </link>
+    <joint name="LH_KFE" type="revolute">
+        <parent link="LH_THIGH"/>
+        <child link="LH_SHANK"/>
+        <origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
+        <axis xyz="1 0 0"/>
+        <limit effort="80.0" velocity="20." />
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+    <link name="LH_SHANK">
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
+            <geometry>
+                <cylinder length="0.25" radius="0.02"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
+            <mass value="2.04"/>
+            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
+        </inertial>
+    </link>
+    <joint name="RH_HAA" type="revolute">
+        <parent link="base"/>
+        <child link="RH_HAA"/>
+        <axis xyz="1 0 0"/>
+        <limit effort="80.0" velocity="20." />
+        <origin rpy="0 0 3.1415" xyz="-0.2999 -0.104 0.0"/>
+    </joint>
+    <link name="RH_HAA">
+        <collision>
+            <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+            <geometry>
+                <cylinder length="0.05" radius="0.04"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0.00046"/>
+            <mass value="2.04"/>
+            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
+        </inertial>
+    </link>
+    <joint name="RH_HFE" type="revolute">
+        <parent link="RH_HAA"/>
+        <child link="RH_THIGH"/>
+        <origin rpy="0 0 -1.57079632679" xyz="0 0.05 0"/>
+        <axis xyz="1 0 0"/>
+        <limit effort="80.0" velocity="20." />
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+    <link name="RH_THIGH">
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
+            <geometry>
+                <cylinder length="0.25" radius="0.02"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
+            <mass value="2.04"/>
+            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
+        </inertial>
+    </link>
+    <joint name="RH_KFE" type="revolute">
+        <parent link="RH_THIGH"/>
+        <child link="RH_SHANK"/>
+        <origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
+        <axis xyz="1 0 0"/>
+        <limit effort="80.0" velocity="20." />
+        <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+    <link name="RH_SHANK">
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
+            <geometry>
+                <cylinder length="0.25" radius="0.02"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
+            <mass value="2.04"/>
+            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
+        </inertial>
+    </link>
 </robot>

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