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simple_mug.sdf
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simple_mug.sdf
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<?xml version="1.0"?>
<sdf version="1.7">
<model name="simple_mug">
<link name="simple_mug">
<inertial>
<pose>0.01 0 0.05 0 0 0</pose>
<mass>0.094</mass>
<inertia>
<ixx>0.000156</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000156</iyy>
<iyz>0</iyz>
<izz>0.00015</izz>
</inertia>
</inertial>
<collision name="main_body_collision">
<pose>0 0 0.05 0 0 0</pose>
<geometry>
<cylinder>
<length>0.1</length>
<radius>0.04</radius>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>0.9</mu>
<mu2>0.5</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="main_body_visual">
<pose>0 0 0.05 0 0 0</pose>
<geometry>
<cylinder>
<length>0.1</length>
<radius>0.04</radius>
</cylinder>
</geometry>
</visual>
<visual name="mug_handle_visual">
<pose>0.055 0 0.05 0 0 0</pose>
<geometry>
<box>
<size>0.03 0.02 0.08</size>
</box>
</geometry>
</visual>
</link>
</model>
</sdf>