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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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16
wooden_case_metal_peg/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Wooden case with metal peg</name>
<version>1.0</version>
<sdf version='1.5'>model.sdf</sdf>
<author>
<name>Steve Peters</name>
<email>scpeters@osrfoundation.org</email>
</author>
<description>
The wooden ARAT case with with a single metal peg.
</description>
</model>

29
wooden_case_metal_peg/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="wooden_case_metal_peg">
<include>
<name>wooden_case</name>
<uri>model://wooden_case</uri>
</include>
<include>
<name>peg</name>
<uri>model://metal_peg</uri>
<pose>0.365774 0.216 0.01905 0 0 0</pose>
</include>
<joint name="case_peg" type="revolute">
<child>peg::link</child>
<parent>wooden_case::lid</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<upper>0</upper>
<lower>0</lower>
</limit>
</axis>
</joint>
</model>
</sdf>