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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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92
drc_practice_ball_valve_wall/model-1_4.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="ball_valve_wall">
<include>
<uri>model://drc_practice_valve_wall</uri>
<name>wall</name>
<static>false</static>
</include>
<joint name="wall-joint" type="revolute">
<parent>world</parent>
<child>wall::link</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
</axis>
</joint>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_0</name>
<pose>0.919587 -0.0092 0.285 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_1</name>
<pose>0.919587 -0.0092 0.8954 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_2</name>
<pose>0.919587 -0.0092 1.5058 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_3</name>
<pose>0.919587 -0.0092 2.1162 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_4</name>
<pose>0.614335 -0.0092 0.5896 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_5</name>
<pose>0.614335 -0.0092 1.2 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_6</name>
<pose>0.614335 -0.0092 1.8104 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_7</name>
<pose>0.309083 -0.0092 0.285 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_8</name>
<pose>0.309083 -0.0092 0.8954 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_9</name>
<pose>0.309083 -0.0092 1.5058 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_10</name>
<pose>0.309083 -0.0092 2.1162 0 0 0</pose>
</include>
</model>
</sdf>

15
drc_practice_ball_valve_wall/model.config Normal file
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<?xml version='1.0'?>
<model>
<name>DRC Practice: Ball valve wall</name>
<version>0.1.0</version>
<sdf version='1.4'>model-1_4.sdf</sdf>
<sdf version='1.5'>model.sdf</sdf>
<author>
<name>Nate koenig</name>
<email>nate@osrfoundation.org</email>
</author>
<description>
A combination of drc_practice_wall and multiple drc_practice_ball_valve models.
</description>
</model>

77
drc_practice_ball_valve_wall/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="ball_valve_wall">
<include>
<uri>model://drc_practice_valve_wall</uri>
<name>wall</name>
<static>false</static>
</include>
<joint name="wall-joint" type="revolute">
<parent>world</parent>
<child>wall::link</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_0</name>
<pose>0.919587 -0.0092 0.285 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_1</name>
<pose>0.919587 -0.0092 0.8954 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_2</name>
<pose>0.919587 -0.0092 1.5058 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_3</name>
<pose>0.919587 -0.0092 2.1162 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_4</name>
<pose>0.614335 -0.0092 0.5896 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_5</name>
<pose>0.614335 -0.0092 1.2 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_6</name>
<pose>0.614335 -0.0092 1.8104 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_7</name>
<pose>0.309083 -0.0092 0.285 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_8</name>
<pose>0.309083 -0.0092 0.8954 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_9</name>
<pose>0.309083 -0.0092 1.5058 0 0 0</pose>
</include>
<include>
<uri>model://drc_practice_ball_valve</uri>
<name>valve_10</name>
<pose>0.309083 -0.0092 2.1162 0 0 0</pose>
</include>
</model>
</sdf>