53 lines
1.3 KiB
Plaintext
53 lines
1.3 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="car_wheel">
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<link name="link">
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<pose>0 0 0.21682 0 1.5707 0</pose>
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<inertial>
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<mass>12</mass>
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<inertia>
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<ixx>0.167005283</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.167005283</iyy>
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<iyz>0</iyz>
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<izz>0.282065474</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius>0.21682</radius>
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<length>0.16116</length>
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</cylinder>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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<fdir1>0 0 1</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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<min_depth>0.005</min_depth>
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<kp>1e8</kp>
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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="visual">
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<pose>0 0 -0.08058 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://car_wheel/meshes/car_wheel.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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