| <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> |