framework/asp/mocks/urdf/model.urdf

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<?xml version="1.0"?>
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<robot name="{name}">
<link name="baseLink">
<contact>
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<friction_anchor />
<lateral_friction value="0.3" />
<rolling_friction value="0.0" />
<contact_cfm value="0.0" />
<contact_erp value="1.0" />
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</contact>
<inertial>
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<origin xyz="{centerMassX} {centerMassY} {centerMassZ}" />
<mass value="{massSDF}" />
<inertia ixx="{ixx}" ixy="{ixy}" ixz="{ixz}" iyy="{iyy}" iyz="{iyz}" izz="{izz}" />
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</inertial>
<visual>
<geometry>
<mesh filename="{stl}" scale="0.001 0.001 0.001" />
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</geometry>
<material name="white">
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<color rgba="1. 1. 1. 1." />
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</material>
</visual>
<collision>
<geometry>
<mesh filename="{stl}" scale="0.001 0.001 0.001" />
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</geometry>
</collision>
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<friction>
<ode>
<mu>0.2</mu>
<mu2>0.1</mu2>
<fdir1>1 0 0</fdir1>
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</ode>
</friction>
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</link>
</robot>