130 lines
2.8 KiB
Plaintext
130 lines
2.8 KiB
Plaintext
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<?xml version="1.0"?>
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<sdf version="1.5">
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<world name="default">
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<include>
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<uri>model://sun</uri>
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</include>
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<!-- bowls around start region-->
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<include>
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<pose>-3 -3 0 0 0 0</pose>
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<uri>model://bowl</uri>
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</include>
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<include>
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<pose>3 3 0 0 0 0</pose>
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<uri>model://bowl</uri>
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</include>
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<include>
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<pose>-3 3 0 0 0 0</pose>
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<uri>model://bowl</uri>
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</include>
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<include>
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<pose>3 -3 0 0 0 0</pose>
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<uri>model://bowl</uri>
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</include>
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<!-- bowls around end region -->
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<include>
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<pose>7 7 0 0 0 0</pose>
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<uri>model://bowl</uri>
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</include>
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<include>
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<pose>13 13 0 0 0 0</pose>
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<uri>model://bowl</uri>
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</include>
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<include>
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<pose>7 13 0 0 0 0</pose>
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<uri>model://bowl</uri>
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</include>
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<include>
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<pose>13 7 0 0 0 0</pose>
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<uri>model://bowl</uri>
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</include>
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<plugin name="SimEvents" filename="libSimEventsPlugin.so">
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<session></session>
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<region>
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<name>start</name>
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<volume>
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<!-- min and max are sdf::Vector3 -->
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<!-- around the origin -->
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<min>-3 -3 -3</min>
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<max>3 3 3</max>
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</volume>
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</region>
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<region>
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<name>end</name>
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<volume>
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<!-- around 10,10 -->
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<min>7 7 -3</min>
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<max>13 13 3</max>
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</volume>
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</region>
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<event>
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<name>NewBeer</name>
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<type>existence</type>
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<model>beer</model>
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</event>
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<event>
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<name>Inactive</name>
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<type>sim_state</type>
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<!-- elements can be active or not,
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and this property can be set at runtime or in the world file
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with the active element
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by default, they are.
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-->
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<active>false</active>
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</event>
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<event>
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<name>All_spawn_and_delete</name>
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<type>existence</type>
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<!-- no model is specified -->
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</event>
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<!-- when the simulation state changes (pause/play) -->
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<event>
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<name>Sim</name>
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<type>sim_state</type>
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</event>
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<!-- bounding box intersection event-->
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<event>
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<name>Can1_in_0_0</name>
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<type>inclusion</type>
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<model>can1</model>
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<region>start</region>
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</event>
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<!-- bounding box inclusion event -->
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<event>
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<name>Can1_in_10_10</name>
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<type>inclusion</type>
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<model>can1</model>
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<region>end</region>
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</event>
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</plugin>
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<!--
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spawn a few beers in the world
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-->
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<include>
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<pose>0 0 0 0 0 0</pose>
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<name>can1</name>
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<uri>model://beer</uri>
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</include>
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</world>
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</sdf>
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