50 lines
1.5 KiB
Plaintext
50 lines
1.5 KiB
Plaintext
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<material name="blue">
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<color rgba="0 0 0.5 1" />
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</material>
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<material name="grey">
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<color rgba="0.5 0.5 0.5 1" />
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</material>
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<material name="orange">
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<color rgba="1.0 0.5 0 1" />
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</material>
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<material name="yellow">
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<color rgba="1.0 1.0 0 1" />
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</material>
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<xacro:macro name="box_inertia" params="m l w h xyz rpy">
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<inertial>
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<origin xyz="${xyz}" rpy="${rpy}" />
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<mass value="${m}" />
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<inertia ixx="${(m/12) * (h*h + l*l)}" ixy="0" ixz="0"
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iyy="${(m/12) * (w*w + l*l)}" iyz="0"
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izz="${(m/12) * (w*w + h*h)}" />
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</inertial>
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</xacro:macro>
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<xacro:macro name="cylinder_inertia" params="m r h xyz rpy">
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<inertial>
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<origin xyz="${xyz}" rpy="${rpy}" />
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<mass value="${m}" />
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<inertia ixx="${(m/12) * (3*r*r + h*h)}" ixy="0" ixz="0"
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iyy="${(m/12) * (3*r*r + h*h)}" iyz="0"
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izz="${(m/2) * (r*r)}" />
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</inertial>
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</xacro:macro>
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<xacro:macro name="sphere_inertia" params="m r xyz rpy">
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<inertial>
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<origin xyz="${xyz}" rpy="${rpy}" />
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<mass value="${m}" />
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<inertia ixx="${(2/5) * m * r * r}" ixy="0" ixz="0"
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iyy="${(2/5) * m * r * r}" iyz="0"
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izz="${(2/5) * m * r * r}" />
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</inertial>
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</xacro:macro>
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</robot>
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