moving_base_template.rob

### Boilerplate kinematics of a floating (translating and rotating) cube with a robot hand mounted on it
TParent 1 0 0   0 1 0   0 0 1   0 0 0  \
1 0 0   0 1 0   0 0 1   0 0 0  \
1 0 0   0 1 0   0 0 1   0 0 0  \
1 0 0   0 1 0   0 0 1   0 0 0  \
1 0 0   0 1 0   0 0 1   0 0 0  \
1 0 0   0 1 0   0 0 1   0 0 0  
parents -1 0 1 2 3 4 
axis 1 0 0   0 1 0    0 0 1     0 0 1     0 1 0     1 0 0 
jointtype p p p r r r 
qMin -1 -1 -1  -inf -inf -inf
qMax  1  1  1   inf  inf  inf 
q 0 0 0 0 0 0 
geometry   ""   ""   ""   ""    ""    "data/objects/cube.tri"
geomscale 1 1 1 1 1 0.01
mass       0.1 0.1 0.1 0.1 0.1 0.1
com 0 0 0   0 0 0   0 0 0   0 0 0   0 0 0   0 0 0   
inertia 0.001 0 0 0 0.001 0 0 0 0.001 \
   0.001 0 0 0 0.001 0 0 0 0.001 \
   0.001 0 0 0 0.001 0 0 0 0.001 \
   0.001 0 0 0 0.001 0 0 0 0.001 \
   0.001 0 0 0 0.001 0 0 0 0.001 \
   0.001 0 0 0 0.001 0 0 0 0.001 
torqueMax  500 500 500 50 50 50 
accMax     4 4 4 4 4 4 4
velMax     2 2 2 3 3 3

joint normal 0
joint normal 1
joint normal 2
joint spin 3
joint spin 4
joint spin 5

driver normal 0 
driver normal 1
driver normal 2
driver normal 3
driver normal 4
driver normal 5

servoP 5000 5000 5000 500 500 500
servoI 10 10 10 .5 .5 .5
servoD 100 100 100 10 10 10
viscousFriction 50 50 50 50 50 50
dryFriction 1 1 1 1 1 1

property sensors <sensors><ForceTorqueSensor link="5" hasForce="1 1 1" hasTorque="1 1 1" /></sensors>
mount 5 "%s" 1 0 0   0 1 0   0 0 1   0 0 0 as "%s"