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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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standpipe/materials/textures/standpipe.png Normal file
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standpipe/meshes/standpipe.dae Normal file
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standpipe/model-1_4.sdf Normal file
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<?xml version='1.0'?>
<sdf version='1.4'>
<model name='standpipe'>
<static>true</static>
<link name="standpipe">
<pose>0 0 0.1 0 1.57078 0</pose>
<collision name="collision_stopper">
<pose>0 0 0.22 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.069</radius>
<length>0.1</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
</ode>
</friction>
</surface>
</collision>
<collision name="collision">
<pose>0 0 0.15 0 0 0</pose>
<geometry>
<mesh>
<uri>model://standpipe/meshes/standpipe.dae</uri>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<pose>0 0 0.15 0 0 0</pose>
<geometry>
<mesh>
<uri>model://standpipe/meshes/standpipe.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

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<?xml version='1.0'?>
<model>
<name>Standpipe</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>
Approximate model of a standpipe.
</description>
</model>

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standpipe/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="standpipe">
<static>true</static>
<link name="standpipe">
<pose>0 0 0.1 0 1.57078 0</pose>
<collision name="collision_stopper">
<pose>0 0 0.22 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.069</radius>
<length>0.1</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
</ode>
</friction>
</surface>
</collision>
<collision name="collision">
<pose>0 0 0.15 0 0 0</pose>
<geometry>
<mesh>
<uri>model://standpipe/meshes/standpipe.dae</uri>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<pose>0 0 0.15 0 0 0</pose>
<geometry>
<mesh>
<uri>model://standpipe/meshes/standpipe.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>