54 lines
1.3 KiB
Plaintext
54 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="gear_part">
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<link name="link">
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<inertial>
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<pose>0 0 0.005875 0 0 0</pose>
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<mass>0.5</mass>
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<inertia>
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<ixx>0.00019820251</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.00019820251</iyy>
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<iyz>0</iyz>
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<izz>0.00038440503</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<pose>0 0 0.005875 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.012</length>
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<radius>0.0392125</radius>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode>
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<max_vel>0.1</max_vel>
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<min_depth>0.001</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="visual">
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<geometry>
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<mesh>
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<uri>model://gear_part/meshes/gear.dae</uri>
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<scale>0.25 0.25 0.25</scale>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>model://arm_part/materials/scripts</uri>
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<uri>model://arm_part/materials/textures</uri>
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<name>ArmPart/Diffuse</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</sdf>
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