30 lines
603 B
Plaintext
30 lines
603 B
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="wooden_case_metal_peg">
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<include>
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<name>wooden_case</name>
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<uri>model://wooden_case</uri>
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</include>
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<include>
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<name>peg</name>
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<uri>model://metal_peg</uri>
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<pose>0.365774 0.216 0.01905 0 0 0</pose>
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</include>
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<joint name="case_peg" type="revolute">
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<child>peg::link</child>
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<parent>wooden_case::lid</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<upper>0</upper>
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<lower>0</lower>
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</limit>
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</axis>
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</joint>
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</model>
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</sdf>
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