fix(assets): add density and remove contact parameters
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6147bdd911
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4b457c2e2e
6 changed files with 80 additions and 75 deletions
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@ -21,32 +21,33 @@
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</material>
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</visual>
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<collision name="bunker_collision">
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<density>7850</density>
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<geometry>
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<mesh>
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<uri>model://bunker/meshes/Bunker_50mm_height_for_labels_60х40.STL</uri>
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</mesh>
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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>1e6</kp>
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<kd>1e3</kd>
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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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<bounce>
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<restitution>0.3</restitution>
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</bounce>
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<friction>
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<ode>
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<mu>0.61</mu>
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<mu2>0.47</mu2>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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</surface>
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<!-- <surface> -->
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<!-- <contact> -->
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<!-- <ode> -->
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<!-- <kp>1e6</kp> -->
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<!-- <kd>1e3</kd> -->
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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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<!-- <bounce> -->
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<!-- <restitution>0.3</restitution> -->
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<!-- </bounce> -->
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<!-- <friction> -->
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<!-- <ode> -->
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<!-- <mu>0.61</mu> -->
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<!-- <mu2>0.47</mu2> -->
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<!-- <slip1>0.0</slip1> -->
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<!-- <slip2>0.0</slip2> -->
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<!-- </ode> -->
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<!-- </friction> -->
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<!-- </surface> -->
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</collision>
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</link>
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</model>
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@ -21,32 +21,33 @@
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</material>
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</visual>
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<collision name="bunker_4_slots_collision">
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<density>7850</density>
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<geometry>
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<mesh>
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<uri>model://bunker_4_slots/meshes/Bunker_50mm_height_for_labels_60х40_4.STL</uri>
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</mesh>
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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>1e6</kp>
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<kd>1e3</kd>
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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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<bounce>
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<restitution>0.3</restitution>
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</bounce>
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<friction>
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<ode>
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<mu>0.61</mu>
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<mu2>0.47</mu2>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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</surface>
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<!-- <surface> -->
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<!-- <contact> -->
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<!-- <ode> -->
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<!-- <kp>1e6</kp> -->
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<!-- <kd>1e3</kd> -->
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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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<!-- <bounce> -->
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<!-- <restitution>0.3</restitution> -->
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<!-- </bounce> -->
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<!-- <friction> -->
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<!-- <ode> -->
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<!-- <mu>0.61</mu> -->
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<!-- <mu2>0.47</mu2> -->
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<!-- <slip1>0.0</slip1> -->
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<!-- <slip2>0.0</slip2> -->
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<!-- </ode> -->
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<!-- </friction> -->
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<!-- </surface> -->
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</collision>
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</link>
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</model>
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@ -28,32 +28,33 @@
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</material>
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</visual>
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<collision name="conductor_collision">
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<density>1000</density>
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<geometry>
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<mesh>
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<uri>model://conductor/meshes/conductor.stl</uri>
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</mesh>
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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>1e6</kp>
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<kd>1e3</kd>
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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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<bounce>
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<restitution>0.3</restitution>
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</bounce>
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<friction>
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<ode>
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<mu>0.61</mu>
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<mu2>0.47</mu2>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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</surface>
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<!-- <surface> -->
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<!-- <contact> -->
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<!-- <ode> -->
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<!-- <kp>1e6</kp> -->
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<!-- <kd>1e3</kd> -->
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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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<!-- <bounce> -->
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<!-- <restitution>0.3</restitution> -->
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<!-- </bounce> -->
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<!-- <friction> -->
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<!-- <ode> -->
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<!-- <mu>0.61</mu> -->
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<!-- <mu2>0.47</mu2> -->
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<!-- <slip1>0.0</slip1> -->
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<!-- <slip2>0.0</slip2> -->
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<!-- </ode> -->
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<!-- </friction> -->
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<!-- </surface> -->
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</collision>
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</link>
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</model>
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@ -30,6 +30,7 @@
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</material>
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</visual>
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<collision name="laser_collision">
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<density>1000</density>
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<geometry>
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<mesh>
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<uri>model://laser/meshes/laser.obj</uri>
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@ -14,9 +14,9 @@
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<ambient>1 1 1 1</ambient>
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<specular>0.5 0.5 0.5 1</specular>
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<emissive>0 0 0 1</emissive>
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<texture>
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<diffuse_map>model://shildik/textures/shildik_sh.png</diffuse_map>
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</texture>
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<!-- <texture> -->
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<!-- <diffuse_map>model://shildik/textures/shildik_sh.png</diffuse_map> -->
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<!-- </texture> -->
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<pbr>
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<metal>
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<albedo_map>model://shildik/textures/shildik_sh_d.png</albedo_map>
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@ -29,20 +29,21 @@
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</material>
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</visual>
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<collision name="shildik_collision">
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<density>2700</density>
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<geometry>
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<box>
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<size>0.06 0.04 0.0005</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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</contact>
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<bounce />
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<friction>
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<ode />
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</friction>
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</surface>
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<!-- <surface> -->
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<!-- <contact> -->
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<!-- <ode /> -->
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<!-- </contact> -->
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<!-- <bounce /> -->
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<!-- <friction> -->
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<!-- <ode /> -->
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<!-- </friction> -->
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<!-- </surface> -->
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</collision>
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</link>
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</model>
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0
rbs_mill_assist/current.urdf
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0
rbs_mill_assist/current.urdf
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