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Support "Assemble them all" trajectory generation from CAD

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IDONTSUDO 2023-06-18 15:33:16 +00:00 • committed by Igor Brylyov
parent 47773be8d4
commit a38c3bec5a
42 changed files with 537 additions and 119 deletions
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27
asp/mocks/sdf/model.sdf Normal file
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<?xml version='1.0'?>
<sdf version="1.4">
<model name="{name}">
<link name="{name}">
<gravity>0</gravity>
<collision name="collision">
<mesh>
<uri>model:/{stl}</uri>
</mesh>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model:/{stl}</uri>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>{friction}</mu>
</ode>
</friction>
</surface>
</visual>
</link>
</model>
</sdf>