161 lines
4.1 KiB
Plaintext
161 lines
4.1 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<include>
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<uri>model://sun</uri>
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</include>
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<model name="pressure_sensor_test">
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<link name="base">
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<pose>0 0 0.012 0 0 0</pose>
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<collision name="base_collision">
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<geometry>
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<box>
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<size>1 1 0.2</size>
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</box>
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</geometry>
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</collision>
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<visual name="base_visual">
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<geometry>
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<box>
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<size>1 1 0.2</size>
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</box>
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</geometry>
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<transparency>0.5</transparency>
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</visual>
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<collision name="pressure_pad_1">
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<pose>0.45 0.45 -0.1 0 0 0</pose>
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<geometry>
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<box>
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<size>0.1 0.1 0.02</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode>
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<kp>100000</kp>
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<kd>1</kd>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</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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<collision name="pressure_pad_2">
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<pose>0.45 -0.45 -0.1 0 0 0</pose>
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<geometry>
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<box>
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<size>0.1 0.1 0.02</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode>
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<kp>100000</kp>
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<kd>1</kd>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</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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<collision name="pressure_pad_3">
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<pose>-0.45 0.45 -0.1 0 0 0</pose>
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<geometry>
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<box>
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<size>0.05 0.05 0.02</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode>
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<kp>100000</kp>
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<kd>1</kd>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</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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<collision name="pressure_pad_4">
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<pose>-0.45 -0.45 -0.1 0 0 0</pose>
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<geometry>
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<box>
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<size>0.05 0.05 0.02</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode>
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<kp>100000</kp>
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<kd>1</kd>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</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="pressure_pad_1">
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<pose>0.45 0.45 -0.1 0 0 0</pose>
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<geometry>
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<box>
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<size>0.1 0.1 0.02</size>
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</box>
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</geometry>
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</visual>
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<visual name="pressure_pad_2">
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<pose>0.45 -0.45 -0.1 0 0 0</pose>
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<geometry>
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<box>
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<size>0.1 0.1 0.02</size>
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</box>
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</geometry>
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</visual>
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<visual name="pressure_pad_3">
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<pose>-0.45 0.45 -0.1 0 0 0</pose>
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<geometry>
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<box>
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<size>0.05 0.05 0.02</size>
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</box>
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</geometry>
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</visual>
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<visual name="pressure_pad_4">
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<pose>-0.45 -0.45 -0.1 0 0 0</pose>
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<geometry>
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<box>
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<size>0.05 0.05 0.02</size>
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</box>
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</geometry>
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</visual>
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<sensor name="my_contact" type="contact">
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<contact>
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<collision>pressure_pad_1</collision>
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<collision>pressure_pad_2</collision>
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<collision>pressure_pad_3</collision>
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<collision>pressure_pad_4</collision>
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</contact>
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<plugin name="my_plugin" filename="libPressurePlugin.so" />
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</sensor>
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</link>
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</model>
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</world>
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</sdf>
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