662 lines
17 KiB
Plaintext
662 lines
17 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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<physics type="ode">
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<gravity>0 0 -10.0</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<iters>10</iters>
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<sor>1.3</sor>
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</solver>
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<constraints>
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<cfm>0.0</cfm>
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<erp>0.2</erp>
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<contact_max_correcting_vel>100.0</contact_max_correcting_vel>
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<contact_surface_layer>0.0</contact_surface_layer>
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</constraints>
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</ode>
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<max_step_size>0.001</max_step_size>
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</physics>
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<!-- 25.3kg total mass -->
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<model name="test_model">
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<pose>0 0 0.7 0 0 0</pose>
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<link name="link">
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<inertial>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<collision name="collision">
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<pose>0 0 -0.55 0 0 0</pose>
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<geometry>
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<box>
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<size>1 1 0.1</size>
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</box>
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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>1</mu>
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<mu2>1</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<max_vel>100</max_vel>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<pose>0 0 -0.55 0 0 0</pose>
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<geometry>
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<box>
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<size>1 1 0.1</size>
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</box>
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</geometry>
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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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<collision name="collision2">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.5 0.5 0.5</size>
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</box>
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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>1</mu>
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<mu2>1</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<max_vel>100</max_vel>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual2">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.5 0.5 0.5</size>
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</box>
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</geometry>
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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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<link name="bar_1">
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<pose>0.45 0 -0.5 0 0 0</pose>
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<inertial>
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<inertia>
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<ixx>0.001</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.001</iyy>
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<iyz>0</iyz>
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<izz>0.001</izz>
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</inertia>
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<mass>0.1</mass>
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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>0.02 1.0 0.02</size>
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</box>
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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>1</mu>
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<mu2>1</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<max_vel>100</max_vel>
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</ode>
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</contact>
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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>0.02 1.0 0.02</size>
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</box>
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</geometry>
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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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<joint name="bar_12_joint" type="revolute">
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<parent>bar_2</parent>
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<child>bar_1</child>
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<pose>0 0.5 0 0 0 0</pose>
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<axis>
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<xyz>0 0 1</xyz>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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</joint>
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<joint name="bar_13_joint" type="revolute">
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<parent>bar_3</parent>
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<child>bar_1</child>
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<pose>0 -0.5 0 0 0 0</pose>
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<axis>
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<xyz>0 0 1</xyz>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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</joint>
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<link name="bar_2">
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<pose>0.5 0.5 -0.5 0 0 0</pose>
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<inertial>
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<inertia>
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<ixx>0.001</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.001</iyy>
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<iyz>0</iyz>
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<izz>0.001</izz>
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</inertia>
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<mass>0.1</mass>
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</inertial>
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<collision name="collision">
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<pose>-0.025 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.05 0.02 0.02</size>
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</box>
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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>1</mu>
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<mu2>1</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<max_vel>100</max_vel>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<pose>-0.025 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.05 0.02 0.02</size>
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</box>
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</geometry>
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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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<joint name="bar_2_joint" type="revolute">
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<parent>link</parent>
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<child>bar_2</child>
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<pose>0 0 0 0 0 0</pose>
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<axis>
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<xyz>0 0 1</xyz>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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</joint>
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<link name="bar_3">
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<pose>0.5 -0.5 -0.5 0 0 0</pose>
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<inertial>
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<inertia>
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<ixx>0.001</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.001</iyy>
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<iyz>0</iyz>
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<izz>0.001</izz>
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</inertia>
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<mass>0.1</mass>
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</inertial>
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<collision name="collision">
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<pose>-0.025 0 0 0 0 0</pose>
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<geometry>
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||
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<box>
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||
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<size>0.05 0.02 0.02</size>
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</box>
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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>1</mu>
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<mu2>1</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<max_vel>100</max_vel>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<pose>-0.025 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.05 0.02 0.02</size>
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</box>
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</geometry>
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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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<joint name="bar_3_joint" type="revolute">
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<parent>link</parent>
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<child>bar_3</child>
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<pose>0 0 0 0 0 0</pose>
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<axis>
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<xyz>0 0 1</xyz>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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</joint>
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<link name="wheel_1">
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<pose>0.5 0.55 -0.5 1.57079633 0 0</pose>
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<inertial>
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<inertia>
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<ixx>0.01</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.01</iyy>
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<iyz>0</iyz>
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<izz>0.01</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius>0.2</radius>
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<length>0.1</length>
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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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<fdir1>1 0 0</fdir1>
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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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<contact>
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<ode>
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<max_vel>100</max_vel>
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</ode>
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</contact>
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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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<cylinder>
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<radius>0.2</radius>
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<length>0.1</length>
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</cylinder>
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</geometry>
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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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<joint name="wheel_1_joint" type="revolute">
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<parent>bar_2</parent>
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<child>wheel_1</child>
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<pose>0 0 0 0 0 0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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</joint>
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<link name="wheel_2">
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<pose>0.5 -0.55 -0.5 1.57079633 0 0</pose>
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<inertial>
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||
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|
<inertia>
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||
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<ixx>0.01</ixx>
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||
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<ixy>0</ixy>
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||
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<ixz>0</ixz>
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||
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<iyy>0.01</iyy>
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<iyz>0</iyz>
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||
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<izz>0.01</izz>
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</inertia>
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||
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<mass>1.0</mass>
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</inertial>
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||
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<collision name="collision">
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||
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<geometry>
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||
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<cylinder>
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||
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<radius>0.2</radius>
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||
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<length>0.1</length>
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</cylinder>
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||
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</geometry>
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||
|
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<surface>
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||
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|
<friction>
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||
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<ode>
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||
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<fdir1>1 0 0</fdir1>
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<mu>1</mu>
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<mu2>1</mu2>
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||
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</ode>
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||
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|
</friction>
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||
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|
<contact>
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||
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|
<ode>
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||
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<max_vel>100</max_vel>
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</ode>
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</contact>
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||
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</surface>
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||
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|
</collision>
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||
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<visual name="visual">
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||
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<geometry>
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||
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<cylinder>
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||
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<radius>0.2</radius>
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<length>0.1</length>
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</cylinder>
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||
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</geometry>
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||
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<material>
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||
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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||
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</link>
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||
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<joint name="wheel_2_joint" type="revolute">
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||
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<parent>bar_3</parent>
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||
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<child>wheel_2</child>
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||
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<pose>0 0 0 0 0 0</pose>
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||
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<axis>
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||
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<xyz>0 1 0</xyz>
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||
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<use_parent_model_frame>true</use_parent_model_frame>
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||
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</axis>
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||
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</joint>
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||
|
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<link name="wheel_3">
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||
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<pose>-0.5 0.55 -0.5 1.57079633 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.01</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.01</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.01</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.2</radius>
|
||
|
|
<length>0.1</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<fdir1>1 0 0</fdir1>
|
||
|
|
<mu>1</mu>
|
||
|
|
<mu2>1</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<max_vel>100</max_vel>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.2</radius>
|
||
|
|
<length>0.1</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>Gazebo/WoodPallet</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<joint name="wheel_3_joint" type="revolute">
|
||
|
|
<parent>link</parent>
|
||
|
|
<child>wheel_3</child>
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.0</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
</dynamics>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<link name="wheel_4">
|
||
|
|
<pose>-0.5 -0.55 -0.5 1.57079633 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.01</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.01</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.01</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.2</radius>
|
||
|
|
<length>0.1</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<fdir1>1 0 0</fdir1>
|
||
|
|
<mu>1</mu>
|
||
|
|
<mu2>1</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<max_vel>100</max_vel>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.2</radius>
|
||
|
|
<length>0.1</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>Gazebo/WoodPallet</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<joint name="wheel_4_joint" type="revolute">
|
||
|
|
<parent>link</parent>
|
||
|
|
<child>wheel_4</child>
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<axis>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.0</damping>
|
||
|
|
<friction>0.0</friction>
|
||
|
|
</dynamics>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<link name="sphere_link">
|
||
|
|
<pose>0 0 0.5 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.1</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.1</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.1</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>10.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.25</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<fdir1>1 0 0</fdir1>
|
||
|
|
<mu>1</mu>
|
||
|
|
<mu2>1</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<max_vel>10</max_vel>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.25</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>Gazebo/WoodPallet</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<joint name="joint_sphere" type="revolute">
|
||
|
|
<parent>link</parent>
|
||
|
|
<child>sphere_link</child>
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<link name="cylinder_link">
|
||
|
|
<pose>0 0 0.25 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.1</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.1</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.1</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>10.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.25</radius>
|
||
|
|
<length>0.5</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1</mu>
|
||
|
|
<mu2>1</mu2>
|
||
|
|
</ode>
|
||
|
|
</friction>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<max_vel>10</max_vel>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.25</radius>
|
||
|
|
<length>0.5</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>Gazebo/WoodPallet</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<joint name="joint_cylinder" type="revolute">
|
||
|
|
<parent>sphere_link</parent>
|
||
|
|
<child>cylinder_link</child>
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 0 1</xyz>
|
||
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<plugin name="cart_test_plugin" filename="libCartDemoPlugin.so">
|
||
|
|
<steer>bar_2_joint</steer>
|
||
|
|
<steer_pid>10 0.1 0.5</steer_pid>
|
||
|
|
<steer_ilim>-10 10</steer_ilim>
|
||
|
|
<steer_pos>0.0</steer_pos>
|
||
|
|
<!-- steer -->
|
||
|
|
<steer_vel>0</steer_vel>
|
||
|
|
<!-- not used -->
|
||
|
|
<steer_eff>100.0</steer_eff>
|
||
|
|
<!-- max pos pid effort -->
|
||
|
|
<right>wheel_3_joint</right>
|
||
|
|
<right_pid>0.1 0.0 0.001</right_pid>
|
||
|
|
<right_ilim>-.1 .1</right_ilim>
|
||
|
|
<right_pos>0</right_pos>
|
||
|
|
<!-- final position pid -->
|
||
|
|
<right_vel>0</right_vel>
|
||
|
|
<!-- final velocity pid -->
|
||
|
|
<right_eff>0.1</right_eff>
|
||
|
|
<!-- drive torque -->
|
||
|
|
<left>wheel_4_joint</left>
|
||
|
|
<left_pid>0.1 0.0 0.001</left_pid>
|
||
|
|
<left_ilim>-.1 .1</left_ilim>
|
||
|
|
<left_pos>0</left_pos>
|
||
|
|
<!-- final position pid -->
|
||
|
|
<left_vel>0</left_vel>
|
||
|
|
<!-- final velocity pid -->
|
||
|
|
<left_eff>0.1</left_eff>
|
||
|
|
<!-- drive torque -->
|
||
|
|
</plugin>
|
||
|
|
</model>
|
||
|
|
<light type="directional" name="sun">
|
||
|
|
<pose>0 0 10 0 0 0</pose>
|
||
|
|
<diffuse>.8 .8 .8 1</diffuse>
|
||
|
|
<specular>.1 .1 .1 1</specular>
|
||
|
|
<attenuation>
|
||
|
|
<range>10</range>
|
||
|
|
<linear>0.01</linear>
|
||
|
|
<constant>0.8</constant>
|
||
|
|
<quadratic>0.0</quadratic>
|
||
|
|
</attenuation>
|
||
|
|
<direction>0 .5 -.5</direction>
|
||
|
|
<cast_shadows>true</cast_shadows>
|
||
|
|
</light>
|
||
|
|
</world>
|
||
|
|
</sdf>
|