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<?xml version='1.0'?> <sdf version="1.4"> <model name="Legs"> <static>false</static> <joint name="world_fix" type='fixed'> <parent>world</parent> <child>chassis</child> </joint> <link name='chassis'> <pose>0 0 0.62844327 0 0 0</pose> <collision name='collision'> <geometry> <cylinder> <radius> 0.095 </radius> <length> 0.012 </length> </cylinder> </geometry> </collision> <visual name='visual'> <geometry> <cylinder> <radius> 0.095 </radius> <length> 0.012 </length> </cylinder> </geometry> </visual> </link> <link name='arm1'> <pose>0.095 0 0.47111289 0 0 0</pose> <collision name='collision'> <geometry> <box> <size>0.01 0.01 0.25</size> </box> </geometry> </collision> <visual name='visual'> <geometry> <box> <size>0.01 0.01 0.25</size> </box> </geometry> </visual> </link> <link name='arm2'> <pose>-0.0475 0.08227241 0.47111289 0 0 2.094395</pose> <collision name='collision'> <geometry> <box> <size>0.01 0.01 0.25</size> </box> </geometry> </collision> <visual name='visual'> <geometry> <box> <size>0.01 0.01 0.25</size> </box> </geometry> </visual> </link> <link name='arm3'> <pose>-0.0475 -0.08227241 0.47111289 0 0 -2.094395</pose> <collision name='collision'> <geometry> <box> <size>0.01 0.01 0.25</size> </box> </geometry> </collision> <visual name='visual'> <geometry> <box> <size>0.01 0.01 0.25</size> </box> </geometry> </visual> </link> <joint name="arm1_chassis" type="revolute"> <parent>chassis</parent> <child>arm1</child> <axis> <xyz>0 1 0</xyz> <dynamics> <friction> 5 </friction> </dynamics> </axis> <pose> 0 0 0.13 0 0 0 </pose> </joint> <joint name="arm2_chassis" type="revolute"> <parent>chassis</parent> <child>arm2</child> <axis> <xyz>0.866025 0.5 0</xyz> <dynamics> <friction> 5 </friction> </dynamics> </axis> <pose> 0 0 0.13 0 0 0 </pose> </joint> <joint name="arm3_chassis" type="revolute"> <parent>chassis</parent> <child>arm3</child> <axis> <xyz>0.866025 -0.5 0</xyz> <dynamics> <friction> 5 </friction> </dynamics> </axis> <pose> 0 0 0.13 0 0 0 </pose> </joint> <link name='forearm1'> <pose>0.06936738 0 0.17305644 0 0.1513578 0</pose> <collision name='collision'> <geometry> <box> <size>0.01 0.07 0.34</size> </box> </geometry> </collision> <visual name='visual'> <geometry> <box> <size>0.01 0.07 0.34</size> </box> </geometry> </visual> </link> <link name='forearm2'> <pose>-0.03468369 0.06007391 0.17305644 0 0.1513578 2.094395</pose> <collision name='collision'> <geometry> <box> <size>0.01 0.07 0.34</size> </box> </geometry> </collision> <visual name='visual'> <geometry> <box> <size>0.01 0.07 0.34</size> </box> </geometry> </visual> </link> <link name='forearm3'> <pose>-0.03468369 -0.06007391 0.17305644 0 0.1513578 -2.094395</pose> <collision name='collision'> <geometry> <box> <size>0.01 0.07 0.34</size> </box> </geometry> </collision> <visual name='visual'> <geometry> <box> <size>0.01 0.07 0.34</size> </box> </geometry> </visual> </link> <joint name="forearm1_arm1" type="universal"> <parent>arm1</parent> <child>forearm1</child> <axis> <xyz>0 1 0</xyz> </axis> <axis2> <xyz>1 0 0</xyz> </axis2> <pose> 0 0 0.17 0 0 0 </pose> </joint> <joint name="forearm2_arm2" type="universal"> <parent>arm2</parent> <child>forearm2</child> <axis> <xyz>-0.866025 -0.5 0</xyz> </axis> <axis2> <xyz>-0.5 0.866025 0</xyz> </axis2> <pose> 0 0 0.17 0 0 0 </pose> </joint> <joint name="forearm3_arm3" type="universal"> <parent>arm3</parent> <child>forearm3</child> <axis> <xyz>-0.866025 0.5 0</xyz> </axis> <axis2> <xyz>-0.5 -0.866025 0</xyz> </axis2> <pose> 0 0 0.17 0 0 0 </pose> </joint> <link name='gripper'> <pose>0 0 0.0025 0 0 0</pose> <inertia> <mass> 2000 </mass> </inertia> <collision name='collision'> <geometry> <cylinder> <radius> 0.04373475 </radius> <length> 0.005 </length> </cylinder> </geometry> </collision> <visual name='visual'> <geometry> <cylinder> <radius> 0.04373475 </radius> <length> 0.005 </length> </cylinder> </geometry> </visual> </link> <joint name="forearm1_gripper" type="universal"> <parent>forearm1</parent> <child>gripper</child> <axis> <xyz>0 1 0</xyz> <dynamics> <friction> 5 </friction> </dynamics> </axis> <axis2> <xyz>1 0 0</xyz> <dynamics> <friction> 5 </friction> </dynamics> </axis2> <pose> 0.04373475 0 0.0025 0 0 0 </pose> </joint> <joint name="forearm2_gripper" type="universal"> <parent>forearm2</parent> <child>gripper</child> <axis> <xyz>-0.866025 0.5 0</xyz> <dynamics> <friction> 5 </friction> </dynamics> </axis> <axis2> <xyz>-0.5 0.866025 0</xyz> <dynamics> <friction> 5 </friction> </dynamics> </axis2> <pose> -0.02186738 0.0378754 0.0025 0 0 0 </pose> </joint> <joint name="forearm3_gripper" type="universal"> <parent>forearm3</parent> <child>gripper</child> <axis> <xyz>-0.866025 -0.5 0</xyz> <dynamics> <friction> 5 </friction> </dynamics> </axis> <axis2> <xyz>-0.5 -0.866025 0</xyz> <dynamics> <friction> 5 </friction> </dynamics> </axis2> <pose> -0.02186738 -0.0378754 0.0025 0 0 0 </pose> </joint> </model> </sdf>
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