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rotations are with respect to this base--> <!-- For example, the robot at the identity transformation is equivalent to the identity transformation of the first body.--> <Bodyname="Base"type="dynamic"> <Translation>0.0 0.0 0.0</Translation> <Geomtype="cylinder"> <rotationaxis>1 0 0 90</rotationaxis> <radius>0.03</radius> <height>0.02</height> <diffuseColor>0.05 0.05 0.05</diffuseColor> </Geom> </Body> <!-- the first movable link--> <Bodyname="Arm0"type="dynamic"> <!-- Offset from is a fast way of specifying that the translation and rotation of this--> <!-- body should be relative to another link--> <offsetfrom>Base</offsetfrom> <!-- Translation relative to Base--> <Translation>0 0 0.005</Translation> <Geomtype="box"> <Translation>0.08 0 0</Translation> <Extents>0.08 0.01 0.005</Extents> </Geom> </Body> <!-- declare a circular hinge joint (circular joints have no limits) --> <Jointcircular="true"name="Arm0"type="hinge"> <Body>Base</Body> <Body>Arm0</Body> <offsetfrom>Arm0</offsetfrom> <weight>4</weight> <limitsdeg>-180 180</limitsdeg> <axis>0 0 1</axis> <maxvel>3</maxvel> <resolution>1</resolution> </Joint> <!-- the second movable link--> <Bodyname="Arm1"type="dynamic"> <offsetfrom>Arm0</offsetfrom> <Translation>0.14 0 0.01</Translation> <Geomtype="box"> <Translation>0.08 0.0 0</Translation> <Extents>0.08 0.0075 0.005</Extents> </Geom> </Body> <!-- declare a circular hinge joint (circular joints have no limits) --> <Jointcircular="true"name="Arm1"type="hinge"> <Body>Arm0</Body> <Body>Arm1</Body> <offsetfrom>Arm1</offsetfrom> <weight>3</weight> <limitsdeg>-180 180</limitsdeg> <axis>0 0 1</axis> <maxvel>4</maxvel> <resolution>1</resolution> </Joint> <!-- the third movable link--> <Bodyname="Arm2"type="dynamic"> <offsetfrom>Arm1</offsetfrom> <Translation>0.14 0 0.01</Translation> <Geomtype="box"> <Translation>0.04 0 0</Translation> <Extents>0.04 0.005 0.005</Extents> </Geom> </Body> <!-- declare a circular hinge joint (circular joints have no limits) --> <Jointcircular="true"name="Arm2"type="hinge"> <Body>Arm1</Body> <Body>Arm2</Body> <offsetfrom>Arm2</offsetfrom> <weight>3</weight> <limitsdeg>-180 180</limitsdeg> <axis>0 0 1</axis> <maxvel>2</maxvel> <resolution>2</resolution> </Joint> <!-- Create the gripper joints:--> <!-- right gripper--> <Bodyname="RClaw"type="dynamic"> <offsetfrom>Arm2</offsetfrom> <Translation>0.08 0 0.005</Translation> <rotationaxis>0 0 1 -90</rotationaxis> <Geomtype="trimesh"> <Data>models/puma/RClaw.iv</Data> <Render>models/puma/RClaw.iv</Render> </Geom> </Body> <Jointname="j1"type="hinge"> <Body>Arm2</Body> <Body>RClaw</Body> <offsetfrom>RClaw</offsetfrom> <weight>0.2</weight> <limitsdeg>-56 16</limitsdeg> <axis>0 0 1</axis> <maxvel>0.4</maxvel> <resolution>3</resolution> </Joint> <!--left gripper--> <Bodyname="LClaw"type="dynamic"> <Translation>0.08 0.005 0</Translation> <rotationaxis>0 0 1 -90</rotationaxis> <offsetfrom>Arm2</offsetfrom> <Geomtype="trimesh"> <Data>models/puma/LClaw.iv</Data> 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