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planar3.xml
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<?xml version="1.0" encoding="UTF-8"?>
<rlmdl xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="rlmdl.xsd">
<model>
<manufacturer>Featherstone</manufacturer>
<name>planar3</name>
<world id="world">
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0</z>
</translation>
<g>
<x>0</x>
<y>0</y>
<z>9.80665</z>
</g>
</world>
<body id="link0">
<ignore/>
</body>
<body id="link1">
<ignore idref="link0"/>
<ignore idref="link2"/>
<cm>
<x>0.5</x>
<y>0</y>
<z>0</z>
</cm>
<i>
<xx>0.01</xx>
<yy>0.083333333</yy>
<zz>0.083333333</zz>
<yz>0</yz>
<xz>0</xz>
<xy>0</xy>
</i>
<m>1</m>
</body>
<frame id="frame0"/>
<body id="link2">
<ignore idref="link1"/>
<ignore idref="link3"/>
<cm>
<x>0.5</x>
<y>0</y>
<z>0</z>
</cm>
<i>
<xx>0.01</xx>
<yy>0.083333333</yy>
<zz>0.083333333</zz>
<yz>0</yz>
<xz>0</xz>
<xy>0</xy>
</i>
<m>1</m>
</body>
<frame id="frame1"/>
<body id="link3">
<ignore idref="link2"/>
<cm>
<x>0.5</x>
<y>0</y>
<z>0</z>
</cm>
<i>
<xx>0.01</xx>
<yy>0.083333333</yy>
<zz>0.083333333</zz>
<yz>0</yz>
<xz>0</xz>
<xy>0</xy>
</i>
<m>1</m>
</body>
<frame id="frame2"/>
<fixed id="fixed0">
<frame>
<a idref="world"/>
<b idref="link0"/>
</frame>
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>0</x>
<y>0</y>
<z>0</z>
</translation>
</fixed>
<revolute id="joint0">
<frame>
<a idref="link0"/>
<b idref="link1"/>
</frame>
<max>360</max>
<min>-360</min>
</revolute>
<fixed id="fixed1">
<frame>
<a idref="link1"/>
<b idref="frame0"/>
</frame>
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>1</x>
<y>0</y>
<z>0</z>
</translation>
</fixed>
<revolute id="joint1">
<frame>
<a idref="frame0"/>
<b idref="link2"/>
</frame>
<max>360</max>
<min>-360</min>
</revolute>
<fixed id="fixed2">
<frame>
<a idref="link2"/>
<b idref="frame1"/>
</frame>
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>1</x>
<y>0</y>
<z>0</z>
</translation>
</fixed>
<revolute id="joint2">
<frame>
<a idref="frame1"/>
<b idref="link3"/>
</frame>
<max>360</max>
<min>-360</min>
</revolute>
<fixed id="fixed3">
<frame>
<a idref="link3"/>
<b idref="frame2"/>
</frame>
<rotation>
<x>0</x>
<y>0</y>
<z>0</z>
</rotation>
<translation>
<x>1</x>
<y>0</y>
<z>0</z>
</translation>
</fixed>
</model>
</rlmdl>