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<default>
<default class="sts3215">
<geom contype="0" conaffinity="0"/>
<joint damping="0.60" frictionloss="0.052" armature="0.028"/>
<position kp="17.8" kv="0.0" forcerange="-3.35 3.35"/>
</default>
<default class="backlash">
<!-- +/- 0.5° of backlash -->
<joint damping="0.01" frictionloss="0" armature="0.01" limited="true"
range="-0.008726646259971648 0.008726646259971648"/>
</default>
</default> |