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srmainwaringsrmainwaring
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Iris: improve collisions
- Replace large box with collision STL that approximates the base. - Add cylinders for the leg collisions. - Remove deprecated physics elements. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
1 parent 65937b7 commit 2b626b1

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Lines changed: 105 additions & 77 deletions

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‎models/iris_with_standoffs/meshes/iris_collision.stl‎

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‎models/iris_with_standoffs/model.sdf‎

Lines changed: 105 additions & 77 deletions
Original file line numberDiff line numberDiff line change
@@ -20,11 +20,34 @@
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</inertia>
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</inertial>
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<collision name='base_collision'>
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<pose>0 0 -0.08 0 0 0</pose>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>package://ardupilot_gazebo/models/iris_with_standoffs/meshes/iris_collision.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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<max_vel>100.0</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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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<collision name='front_left_leg_collision'>
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<pose>0.123 0.22 -0.11 0 0 0</pose>
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<geometry>
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<box>
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<size>0.47 0.47 0.23</size>
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</box>
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<cylinder>
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<radius>0.005</radius>
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<length>0.17</length>
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</cylinder>
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</geometry>
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<surface>
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<contact>
@@ -41,6 +64,76 @@
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</friction>
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</surface>
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</collision>
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<collision name='front_right_leg_collision'>
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<pose>0.123 -0.22 -0.11 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.005</radius>
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<length>0.17</length>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode>
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<max_vel>100.0</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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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<collision name='rear_left_leg_collision'>
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<pose>-0.140 0.21 -0.11 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.005</radius>
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<length>0.17</length>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode>
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<max_vel>100.0</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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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<collision name='rear_right_leg_collision'>
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<pose>-0.140 -0.21 -0.11 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.005</radius>
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<length>0.17</length>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode>
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<max_vel>100.0</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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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name='base_visual'>
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<geometry>
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<mesh>
@@ -59,7 +152,6 @@
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</pbr>
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</material>
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</visual>
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<visual name='front_left_leg_visual'>
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<pose>0.123 0.22 -0.11 0 0 0</pose>
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<geometry>
@@ -191,24 +283,16 @@
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<izz>0.000167604</izz>
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</inertia>
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</inertial>
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<collision name='rotor_0_collision'>
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<collision name='collision'>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.005</length>
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<radius>0.1</radius>
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</cylinder>
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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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<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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<visual name='rotor_0_visual'>
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<visual name='visual'>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<mesh>
@@ -228,9 +312,6 @@
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</pbr>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay/>
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<self_collide>0</self_collide>
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</link>
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<joint name='rotor_0_joint' type='revolute'>
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<child>rotor_0</child>
@@ -245,11 +326,6 @@
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<damping>0.004</damping>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<link name='rotor_1'>
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<pose>-0.13 0.2 0.023 0 0 0</pose>
@@ -265,24 +341,16 @@
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<izz>0.000167604</izz>
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</inertia>
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</inertial>
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<collision name='rotor_1_collision'>
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<collision name='collision'>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.005</length>
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<radius>0.1</radius>
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</cylinder>
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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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<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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<visual name='rotor_1_visual'>
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<visual name='visual'>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<mesh>
@@ -302,9 +370,6 @@
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</pbr>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay/>
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<self_collide>0</self_collide>
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</link>
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<joint name='rotor_1_joint' type='revolute'>
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<child>rotor_1</child>
@@ -319,11 +384,6 @@
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<damping>0.004</damping>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<link name='rotor_2'>
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<pose>0.13 0.22 0.023 0 0 0</pose>
@@ -339,24 +399,16 @@
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<izz>0.000167604</izz>
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</inertia>
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</inertial>
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<collision name='rotor_2_collision'>
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<collision name='collision'>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.005</length>
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<radius>0.1</radius>
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</cylinder>
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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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<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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<visual name='rotor_2_visual'>
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<visual name='visual'>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<mesh>
@@ -376,9 +428,6 @@
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</pbr>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay/>
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<self_collide>0</self_collide>
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</link>
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<joint name='rotor_2_joint' type='revolute'>
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<child>rotor_2</child>
@@ -393,11 +442,6 @@
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<damping>0.004</damping>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<link name='rotor_3'>
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<pose>-0.13 -0.2 0.023 0 0 0</pose>
@@ -413,24 +457,16 @@
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<izz>0.000167604</izz>
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</inertia>
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</inertial>
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<collision name='rotor_3_collision'>
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<collision name='collision'>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.005</length>
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<radius>0.1</radius>
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</cylinder>
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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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<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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<visual name='rotor_3_visual'>
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<visual name='visual'>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<mesh>
@@ -450,9 +486,6 @@
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</pbr>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay/>
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<self_collide>0</self_collide>
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</link>
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<joint name='rotor_3_joint' type='revolute'>
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<child>rotor_3</child>
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<damping>0.004</damping>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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</model>
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</sdf>

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