forked from pz4kybsvg/Conception
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54 lines
1.3 KiB
54 lines
1.3 KiB
<?xml version="1.0"?>
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<sdf version="1.7">
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<model name="simple_mug">
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<link name="simple_mug">
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<inertial>
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<pose>0.01 0 0.05 0 0 0</pose>
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<mass>0.094</mass>
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<inertia>
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<ixx>0.000156</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.000156</iyy>
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<iyz>0</iyz>
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<izz>0.00015</izz>
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</inertia>
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</inertial>
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<collision name="main_body_collision">
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<pose>0 0 0.05 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.1</length>
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<radius>0.04</radius>
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</cylinder>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>0.9</mu>
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<mu2>0.5</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="main_body_visual">
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<pose>0 0 0.05 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.1</length>
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<radius>0.04</radius>
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</cylinder>
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</geometry>
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</visual>
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<visual name="mug_handle_visual">
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<pose>0.055 0 0.05 0 0 0</pose>
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<geometry>
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<box>
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<size>0.03 0.02 0.08</size>
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</box>
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</geometry>
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</visual>
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</link>
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</model>
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</sdf>
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