255 lines
7.0 KiB
XML
255 lines
7.0 KiB
XML
<?xml version="1.0" ?>
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<%
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# Wooden case for ARAT models
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# SI units (length in meters)
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# Geometry
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inchToMeter = 0.0254
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width = 23 * inchToMeter
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height = 14 * inchToMeter
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depth = 5 * inchToMeter
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thickness = 0.75 * inchToMeter
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d = depth
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h = height
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t = thickness
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w = width
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# blocks on bottom of case
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block_size = [0.108, 0.050, 0.024]
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block_dx = 0.5*(depth - block_size[0])
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block_dy = 0.5*(w - block_size[1]) - 0.052
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block_dz = -0.5 * block_size[2]
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base_pieces = {
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"back" => {:size => [t, w-2*t, h-2*t], :pos => [-0.5*(d-t), 0, h/2]},
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"bottom" => {:size => [d, w, t], :pos => [0, 0, t / 2.0]},
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"top" => {:size => [d, w, t], :pos => [0, 0, h - t / 2.0]},
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"left" => {:size => [d, t, h - 2*t], :pos => [0, -0.5*(w-t), 0.5*h]},
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"right" => {:size => [d, t, h - 2*t], :pos => [0, 0.5*(w-t), 0.5*h]},
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"block_left" => {:size => block_size, :pos => [block_dx, -block_dy, block_dz]},
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"block_right" => {:size => block_size, :pos => [block_dx, block_dy, block_dz]},
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}
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# Material
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# Assume soft wood with density of 500 kg / m^3
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density = 500
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# Surface parameters
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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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%>
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<sdf version="1.5">
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<model name="wooden_case">
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<link name="base">
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<%
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# Compute inertia
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# Compute mass of each component
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# mass: total mass
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mass = 0
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base_pieces.keys.each do |k|
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dx = base_pieces[k][:size][0]
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dy = base_pieces[k][:size][1]
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dz = base_pieces[k][:size][2]
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m = density * dx * dy * dz
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mass += m
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base_pieces[k][:mass] = m
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ixx = m/12.0 * (dy**2 + dz**2)
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iyy = m/12.0 * (dz**2 + dx**2)
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izz = m/12.0 * (dx**2 + dy**2)
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base_pieces[k][:ixx] = ixx
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base_pieces[k][:iyy] = iyy
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base_pieces[k][:izz] = izz
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end
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# Compute lumped center of mass
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cx_sum = 0.0
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cy_sum = 0.0
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cz_sum = 0.0
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base_pieces.keys.each do |k|
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m = base_pieces[k][:mass]
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pos = base_pieces[k][:pos]
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cx_sum += m * pos[0]
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cy_sum += m * pos[1]
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cz_sum += m * pos[2]
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end
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c = [cx_sum / mass, cy_sum / mass, cz_sum / mass]
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# Compute lumped moments of inertia with respect to center of mass
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lumped_ixx = 0.0
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lumped_iyy = 0.0
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lumped_izz = 0.0
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lumped_ixy = 0.0
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lumped_ixz = 0.0
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lumped_iyz = 0.0
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base_pieces.keys.each do |k|
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m = base_pieces[k][:mass]
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pos = base_pieces[k][:pos]
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ixx = base_pieces[k][:ixx]
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iyy = base_pieces[k][:iyy]
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izz = base_pieces[k][:izz]
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cx = pos[0] - c[0]
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cy = pos[1] - c[1]
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cz = pos[2] - c[2]
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lumped_ixx += ixx + m*(cy*cy + cz*cz)
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lumped_iyy += iyy + m*(cz*cz + cx*cx)
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lumped_izz += izz + m*(cx*cx + cy*cy)
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lumped_ixy -= m*cx*cy
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lumped_ixz -= m*cx*cz
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lumped_iyz -= m*cy*cz
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end
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ixx = lumped_ixx
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iyy = lumped_iyy
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izz = lumped_izz
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ixy = lumped_ixy
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ixz = lumped_ixz
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iyz = lumped_iyz
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%>
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<pose>0 0 <%= block_size[2] %> 0 0 0</pose>
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<inertial>
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<pose><%= c.join(' ') %> 0 0 0</pose>
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<mass><%= mass %></mass>
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<inertia>
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<ixx><%= ixx %></ixx>
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<ixy><%= ixy %></ixy>
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<ixz><%= ixz %></ixz>
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<iyy><%= iyy %></iyy>
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<iyz><%= iyz %></iyz>
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<izz><%= izz %></izz>
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</inertia>
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</inertial>
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<% base_pieces.keys.each do |k|
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name = k
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dx = base_pieces[k][:size][0]
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dy = base_pieces[k][:size][1]
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dz = base_pieces[k][:size][2]
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pose = base_pieces[k][:pos].join(' ') + " 0 0 0"
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%>
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<%= "<collision name='collision_#{name}'>" %>
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<pose><%= pose %></pose>
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<geometry>
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<box>
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<size><%= dx %> <%= dy %> <%= dz %></size>
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</box>
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</geometry>
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<surface>
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<%= surface %>
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</surface>
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</collision>
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<%= "<visual name='visual_#{name}'>" %>
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<pose><%= pose %></pose>
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<geometry>
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<box>
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<size><%= dx %> <%= dy %> <%= dz %></size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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</script>
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</material>
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</visual>
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<% end %>
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</link>
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<link name="lid">
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<% # Size and inertia of box lid
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dx = height
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dy = width
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dz = t
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pos = [(dx+depth + block_size[2]-t)/2, 0, t/2]
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mass = density * dx * dy * dz
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ixx = mass/12.0 * (dy**2 + dz**2)
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iyy = mass/12.0 * (dz**2 + dx**2)
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izz = mass/12.0 * (dx**2 + dy**2)
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tee_nut_diameter = 0.5 * inchToMeter
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tee_nut_radius = tee_nut_diameter / 2
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tee_nut_length = t*1.01
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tee_nut_pos = {
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"tee_nut_1" => [0.122, -0.216, 0.0],
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"tee_nut_2" => [0.122, -0.088, 0.0],
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"tee_nut_3" => [0.122, 0.088, 0.0],
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"tee_nut_4" => [0.122, 0.216, 0.0],
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}
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%>
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<pose><%= pos.join(' ') %> 0 0 0</pose>
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<inertial>
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<mass><%= mass %></mass>
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<inertia>
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<ixx><%= ixx %></ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy><%= iyy %></iyy>
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<iyz>0</iyz>
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<izz><%= izz %></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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<box>
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<size><%= dx %> <%= dy %> <%= dz %></size>
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</box>
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</geometry>
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<surface>
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<%= surface %>
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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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<box>
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<size><%= dx %> <%= dy %> <%= dz %></size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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</script>
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</material>
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</visual>
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<% tee_nut_pos.keys.each do |k|
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name = k
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pos = tee_nut_pos[k]
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%>
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<%= "<visual name='#{name}'>" %>
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<pose><%= pos.join(' ') %> 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius><%= tee_nut_radius %></radius>
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<length><%= tee_nut_length %></length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<% end %>
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</link>
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<joint name="lid_hinge" type="revolute">
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<pose><%= -h/2 %> 0 <%= t %> 0 0 0</pose>
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<parent>base</parent>
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<child>lid</child>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<upper><%= Math::PI/6 %></upper>
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<lower><%= -Math::PI/2 %></lower>
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</limit>
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</axis>
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</joint>
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</model>
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</sdf>
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