93 lines
2.5 KiB
Plaintext
93 lines
2.5 KiB
Plaintext
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<?xml version="1.0"?>
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<sdf version="1.5">
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<model name="parrot_bebop_2">
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<static>false</static>
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<pose>0 0 0.062656 0 0 0</pose>
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<!-- Main link -->
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<link name="body">
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<inertial>
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<mass>0.503</mass> <!-- kg -->
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<inertia> <!-- kg.m^2 -->
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<ixx>1.805e-3</ixx>
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<ixy>-8.619e-7</ixy>
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<iyy>1.764e-3</iyy>
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<ixz>1.555e-5</ixz>
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<iyz>3.595e-7</iyz>
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<izz>3.328e-3</izz>
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</inertia>
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<pose>0 0 0 0 0 0</pose>
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</inertial>
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<collision name="collision">
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<pose>-0.00424 0.00014 -0.00595 0 0 0</pose>
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<geometry>
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<box><size>0.316618 0.330564 0.089582</size></box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce>
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<restitution_coefficient>0.828</restitution_coefficient>
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<threshold>0</threshold>
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</bounce>
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<friction>
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<ode>
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<mu>10</mu>
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<mu2>5</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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<contact>
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<ode>
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<kp>10000.0</kp>
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<kd>10.0</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="hull">
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<geometry>
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<mesh>
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<uri>model://parrot_bebop_2/meshes/hull.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<visual name="propeller_rr">
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<pose>-0.09035 -0.11423 -0.00501 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://parrot_bebop_2/meshes/propeller_rr.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<visual name="propeller_rl">
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<pose>-0.09035 0.11452 -0.00501 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://parrot_bebop_2/meshes/propeller_rl.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<visual name="propeller_fr">
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<pose>0.08456 -0.11435 -0.00501 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://parrot_bebop_2/meshes/propeller_fr.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<visual name="propeller_fl">
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<pose>0.08456 0.11463 -0.00501 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://parrot_bebop_2/meshes/propeller_fl.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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</model>
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</sdf>
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