52 lines
720 KiB
C
52 lines
720 KiB
C
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _TEST_LOGS_CMP_H_
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#define _TEST_LOGS_CMP_H_
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#include "gazebo/gazebo_config.h"
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#ifdef __GNUC__
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#define MAYBE_UNUSED __attribute__((used))
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#elif defined _MSC_VER
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#pragma warning(disable: Cxxxxx)
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#define MAYBE_UNUSED
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#else
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#define MAYBE_UNUSED
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#endif
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static std::string pr2StateLog =
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"<?xml version='1.0'?>\n<gazebo_log>\n<header>\n<log_version>1.0</log_version>\n<gazebo_version>1.4.6</gazebo_version>\n<rand_seed>32606</rand_seed>\n</header>\n\n<chunk encoding='txt'><![CDATA[\n<sdf version ='1.3'>\n<world name='default'>\n <model name='ground_plane'>\n <static>1</static>\n <link name='link'>\n <collision name='collision'>\n <geometry>\n <plane>\n <normal>0.000000 0.000000 1.000000</normal>\n <size>100.000000 100.000000</size>\n </plane>\n </geometry>\n <surface>\n <friction>\n <ode>\n <mu>100.000000</mu>\n <mu2>50.000000</mu2>\n </ode>\n </friction>\n <bounce/>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='visual'>\n <cast_shadows>0</cast_shadows>\n <geometry>\n <plane>\n <normal>0.000000 0.000000 1.000000</normal>\n <size>100.000000 100.000000</size>\n </plane>\n </geometry>\n <material>\n <script>\n <uri>file://media/materials/scripts/gazebo.material</uri>\n <name>Gazebo/Grey</name>\n </script>\n </material>\n </visual>\n <velocity_decay>\n <linear>0.000000</linear>\n <angular>0.000000</angular>\n </velocity_decay>\n <self_collide>0</self_collide>\n <kinematic>0</kinematic>\n <gravity>1</gravity>\n </link>\n </model>\n <light name='sun' type='directional'>\n <cast_shadows>1</cast_shadows>\n <pose>0.000000 0.000000 10.000000 0.000000 0.000000 0.000000</pose>\n <diffuse>0.800000 0.800000 0.800000 1.000000</diffuse>\n <specular>0.100000 0.100000 0.100000 1.000000</specular>\n <attenuation>\n <range>1000.000000</range>\n <constant>0.900000</constant>\n <linear>0.010000</linear>\n <quadratic>0.001000</quadratic>\n </attenuation>\n <direction>-0.500000 0.500000 -1.000000</direction>\n </light>\n <model name='pr2'>\n <static>0</static>\n <link name='base_footprint'>\n <self_collide>0</self_collide>\n <inertial>\n <mass>118.001000</mass>\n <pose>-0.062421 0.000000 0.201365 0.000000 0.000000 0.000000</pose>\n <inertia>\n <ixx>8.431730</ixx>\n <ixy>-0.009720</ixy>\n <ixz>1.901570</ixz>\n <iyy>8.533050</iyy>\n <iyz>-0.007380</iyz>\n <izz>3.787470</izz>\n </inertia>\n </inertial>\n <collision name='base_footprint_geom'>\n <pose>0.000000 0.000000 0.071000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.001000 0.001000 0.001000</size>\n </box>\n </geometry>\n <surface>\n <bounce/>\n <friction>\n <ode/>\n </friction>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='base_footprint_geom_visual'>\n <geometry>\n <box>\n <size>0.010000 0.010000 0.010000</size>\n </box>\n </geometry>\n </visual>\n <collision name='base_footprint_geom_base_bellow_link'>\n <pose>-0.290000 0.000000 0.851000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.050000 0.370000 0.300000</size>\n </box>\n </geometry>\n <surface>\n <bounce/>\n <friction>\n <ode/>\n </friction>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='base_footprint_geom_base_bellow_link_visual'>\n <pose>-0.290000 0.000000 0.851000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.050000 0.370000 0.300000</size>\n </box>\n </geometry>\n </visual>\n <collision name='base_footprint_geom_base_link'>\n <pose>0.000000 0.000000 0.051000 0.000000 0.000
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static std::string pr2PoseStateLog =
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"<?xml version='1.0'?>\n<gazebo_log>\n<header>\n<log_version>1.0</log_version>\n<gazebo_version>1.4.6</gazebo_version>\n<rand_seed>32606</rand_seed>\n</header>\n\n<chunk encoding='txt'><![CDATA[\n<sdf version ='1.3'>\n<world name='default'>\n <model name='ground_plane'>\n <static>1</static>\n <link name='link'>\n <collision name='collision'>\n <geometry>\n <plane>\n <normal>0.000000 0.000000 1.000000</normal>\n <size>100.000000 100.000000</size>\n </plane>\n </geometry>\n <surface>\n <friction>\n <ode>\n <mu>100.000000</mu>\n <mu2>50.000000</mu2>\n </ode>\n </friction>\n <bounce/>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='visual'>\n <cast_shadows>0</cast_shadows>\n <geometry>\n <plane>\n <normal>0.000000 0.000000 1.000000</normal>\n <size>100.000000 100.000000</size>\n </plane>\n </geometry>\n <material>\n <script>\n <uri>file://media/materials/scripts/gazebo.material</uri>\n <name>Gazebo/Grey</name>\n </script>\n </material>\n </visual>\n <velocity_decay>\n <linear>0.000000</linear>\n <angular>0.000000</angular>\n </velocity_decay>\n <self_collide>0</self_collide>\n <kinematic>0</kinematic>\n <gravity>1</gravity>\n </link>\n </model>\n <light name='sun' type='directional'>\n <cast_shadows>1</cast_shadows>\n <pose>0.000000 0.000000 10.000000 0.000000 0.000000 0.000000</pose>\n <diffuse>0.800000 0.800000 0.800000 1.000000</diffuse>\n <specular>0.100000 0.100000 0.100000 1.000000</specular>\n <attenuation>\n <range>1000.000000</range>\n <constant>0.900000</constant>\n <linear>0.010000</linear>\n <quadratic>0.001000</quadratic>\n </attenuation>\n <direction>-0.500000 0.500000 -1.000000</direction>\n </light>\n <model name='pr2'>\n <static>0</static>\n <link name='base_footprint'>\n <self_collide>0</self_collide>\n <inertial>\n <mass>118.001000</mass>\n <pose>-0.062421 0.000000 0.201365 0.000000 0.000000 0.000000</pose>\n <inertia>\n <ixx>8.431730</ixx>\n <ixy>-0.009720</ixy>\n <ixz>1.901570</ixz>\n <iyy>8.533050</iyy>\n <iyz>-0.007380</iyz>\n <izz>3.787470</izz>\n </inertia>\n </inertial>\n <collision name='base_footprint_geom'>\n <pose>0.000000 0.000000 0.071000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.001000 0.001000 0.001000</size>\n </box>\n </geometry>\n <surface>\n <bounce/>\n <friction>\n <ode/>\n </friction>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='base_footprint_geom_visual'>\n <geometry>\n <box>\n <size>0.010000 0.010000 0.010000</size>\n </box>\n </geometry>\n </visual>\n <collision name='base_footprint_geom_base_bellow_link'>\n <pose>-0.290000 0.000000 0.851000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.050000 0.370000 0.300000</size>\n </box>\n </geometry>\n <surface>\n <bounce/>\n <friction>\n <ode/>\n </friction>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='base_footprint_geom_base_bellow_link_visual'>\n <pose>-0.290000 0.000000 0.851000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.050000 0.370000 0.300000</size>\n </box>\n </geometry>\n </visual>\n <collision name='base_footprint_geom_base_link'>\n <pose>0.000000 0.000000 0.051000 0.000000 0.000
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static std::string pr2PoseXStateLog =
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"<?xml version='1.0'?>\n<gazebo_log>\n<header>\n<log_version>1.0</log_version>\n<gazebo_version>1.4.6</gazebo_version>\n<rand_seed>32606</rand_seed>\n</header>\n\n<chunk encoding='txt'><![CDATA[\n<sdf version ='1.3'>\n<world name='default'>\n <model name='ground_plane'>\n <static>1</static>\n <link name='link'>\n <collision name='collision'>\n <geometry>\n <plane>\n <normal>0.000000 0.000000 1.000000</normal>\n <size>100.000000 100.000000</size>\n </plane>\n </geometry>\n <surface>\n <friction>\n <ode>\n <mu>100.000000</mu>\n <mu2>50.000000</mu2>\n </ode>\n </friction>\n <bounce/>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='visual'>\n <cast_shadows>0</cast_shadows>\n <geometry>\n <plane>\n <normal>0.000000 0.000000 1.000000</normal>\n <size>100.000000 100.000000</size>\n </plane>\n </geometry>\n <material>\n <script>\n <uri>file://media/materials/scripts/gazebo.material</uri>\n <name>Gazebo/Grey</name>\n </script>\n </material>\n </visual>\n <velocity_decay>\n <linear>0.000000</linear>\n <angular>0.000000</angular>\n </velocity_decay>\n <self_collide>0</self_collide>\n <kinematic>0</kinematic>\n <gravity>1</gravity>\n </link>\n </model>\n <light name='sun' type='directional'>\n <cast_shadows>1</cast_shadows>\n <pose>0.000000 0.000000 10.000000 0.000000 0.000000 0.000000</pose>\n <diffuse>0.800000 0.800000 0.800000 1.000000</diffuse>\n <specular>0.100000 0.100000 0.100000 1.000000</specular>\n <attenuation>\n <range>1000.000000</range>\n <constant>0.900000</constant>\n <linear>0.010000</linear>\n <quadratic>0.001000</quadratic>\n </attenuation>\n <direction>-0.500000 0.500000 -1.000000</direction>\n </light>\n <model name='pr2'>\n <static>0</static>\n <link name='base_footprint'>\n <self_collide>0</self_collide>\n <inertial>\n <mass>118.001000</mass>\n <pose>-0.062421 0.000000 0.201365 0.000000 0.000000 0.000000</pose>\n <inertia>\n <ixx>8.431730</ixx>\n <ixy>-0.009720</ixy>\n <ixz>1.901570</ixz>\n <iyy>8.533050</iyy>\n <iyz>-0.007380</iyz>\n <izz>3.787470</izz>\n </inertia>\n </inertial>\n <collision name='base_footprint_geom'>\n <pose>0.000000 0.000000 0.071000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.001000 0.001000 0.001000</size>\n </box>\n </geometry>\n <surface>\n <bounce/>\n <friction>\n <ode/>\n </friction>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='base_footprint_geom_visual'>\n <geometry>\n <box>\n <size>0.010000 0.010000 0.010000</size>\n </box>\n </geometry>\n </visual>\n <collision name='base_footprint_geom_base_bellow_link'>\n <pose>-0.290000 0.000000 0.851000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.050000 0.370000 0.300000</size>\n </box>\n </geometry>\n <surface>\n <bounce/>\n <friction>\n <ode/>\n </friction>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='base_footprint_geom_base_bellow_link_visual'>\n <pose>-0.290000 0.000000 0.851000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.050000 0.370000 0.300000</size>\n </box>\n </geometry>\n </visual>\n <collision name='base_footprint_geom_base_link'>\n <pose>0.000000 0.000000 0.051000 0.000000 0.000
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static std::string pr2PoseXYStateLog =
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"<?xml version='1.0'?>\n<gazebo_log>\n<header>\n<log_version>1.0</log_version>\n<gazebo_version>1.4.6</gazebo_version>\n<rand_seed>32606</rand_seed>\n</header>\n\n<chunk encoding='txt'><![CDATA[\n<sdf version ='1.3'>\n<world name='default'>\n <model name='ground_plane'>\n <static>1</static>\n <link name='link'>\n <collision name='collision'>\n <geometry>\n <plane>\n <normal>0.000000 0.000000 1.000000</normal>\n <size>100.000000 100.000000</size>\n </plane>\n </geometry>\n <surface>\n <friction>\n <ode>\n <mu>100.000000</mu>\n <mu2>50.000000</mu2>\n </ode>\n </friction>\n <bounce/>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='visual'>\n <cast_shadows>0</cast_shadows>\n <geometry>\n <plane>\n <normal>0.000000 0.000000 1.000000</normal>\n <size>100.000000 100.000000</size>\n </plane>\n </geometry>\n <material>\n <script>\n <uri>file://media/materials/scripts/gazebo.material</uri>\n <name>Gazebo/Grey</name>\n </script>\n </material>\n </visual>\n <velocity_decay>\n <linear>0.000000</linear>\n <angular>0.000000</angular>\n </velocity_decay>\n <self_collide>0</self_collide>\n <kinematic>0</kinematic>\n <gravity>1</gravity>\n </link>\n </model>\n <light name='sun' type='directional'>\n <cast_shadows>1</cast_shadows>\n <pose>0.000000 0.000000 10.000000 0.000000 0.000000 0.000000</pose>\n <diffuse>0.800000 0.800000 0.800000 1.000000</diffuse>\n <specular>0.100000 0.100000 0.100000 1.000000</specular>\n <attenuation>\n <range>1000.000000</range>\n <constant>0.900000</constant>\n <linear>0.010000</linear>\n <quadratic>0.001000</quadratic>\n </attenuation>\n <direction>-0.500000 0.500000 -1.000000</direction>\n </light>\n <model name='pr2'>\n <static>0</static>\n <link name='base_footprint'>\n <self_collide>0</self_collide>\n <inertial>\n <mass>118.001000</mass>\n <pose>-0.062421 0.000000 0.201365 0.000000 0.000000 0.000000</pose>\n <inertia>\n <ixx>8.431730</ixx>\n <ixy>-0.009720</ixy>\n <ixz>1.901570</ixz>\n <iyy>8.533050</iyy>\n <iyz>-0.007380</iyz>\n <izz>3.787470</izz>\n </inertia>\n </inertial>\n <collision name='base_footprint_geom'>\n <pose>0.000000 0.000000 0.071000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.001000 0.001000 0.001000</size>\n </box>\n </geometry>\n <surface>\n <bounce/>\n <friction>\n <ode/>\n </friction>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='base_footprint_geom_visual'>\n <geometry>\n <box>\n <size>0.010000 0.010000 0.010000</size>\n </box>\n </geometry>\n </visual>\n <collision name='base_footprint_geom_base_bellow_link'>\n <pose>-0.290000 0.000000 0.851000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.050000 0.370000 0.300000</size>\n </box>\n </geometry>\n <surface>\n <bounce/>\n <friction>\n <ode/>\n </friction>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='base_footprint_geom_base_bellow_link_visual'>\n <pose>-0.290000 0.000000 0.851000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.050000 0.370000 0.300000</size>\n </box>\n </geometry>\n </visual>\n <collision name='base_footprint_geom_base_link'>\n <pose>0.000000 0.000000 0.051000 0.000000 0.000
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static std::string pr2LinkStateLog =
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"<?xml version='1.0'?>\n<gazebo_log>\n<header>\n<log_version>1.0</log_version>\n<gazebo_version>1.4.6</gazebo_version>\n<rand_seed>32606</rand_seed>\n</header>\n\n<chunk encoding='txt'><![CDATA[\n<sdf version ='1.3'>\n<world name='default'>\n <model name='ground_plane'>\n <static>1</static>\n <link name='link'>\n <collision name='collision'>\n <geometry>\n <plane>\n <normal>0.000000 0.000000 1.000000</normal>\n <size>100.000000 100.000000</size>\n </plane>\n </geometry>\n <surface>\n <friction>\n <ode>\n <mu>100.000000</mu>\n <mu2>50.000000</mu2>\n </ode>\n </friction>\n <bounce/>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='visual'>\n <cast_shadows>0</cast_shadows>\n <geometry>\n <plane>\n <normal>0.000000 0.000000 1.000000</normal>\n <size>100.000000 100.000000</size>\n </plane>\n </geometry>\n <material>\n <script>\n <uri>file://media/materials/scripts/gazebo.material</uri>\n <name>Gazebo/Grey</name>\n </script>\n </material>\n </visual>\n <velocity_decay>\n <linear>0.000000</linear>\n <angular>0.000000</angular>\n </velocity_decay>\n <self_collide>0</self_collide>\n <kinematic>0</kinematic>\n <gravity>1</gravity>\n </link>\n </model>\n <light name='sun' type='directional'>\n <cast_shadows>1</cast_shadows>\n <pose>0.000000 0.000000 10.000000 0.000000 0.000000 0.000000</pose>\n <diffuse>0.800000 0.800000 0.800000 1.000000</diffuse>\n <specular>0.100000 0.100000 0.100000 1.000000</specular>\n <attenuation>\n <range>1000.000000</range>\n <constant>0.900000</constant>\n <linear>0.010000</linear>\n <quadratic>0.001000</quadratic>\n </attenuation>\n <direction>-0.500000 0.500000 -1.000000</direction>\n </light>\n <model name='pr2'>\n <static>0</static>\n <link name='base_footprint'>\n <self_collide>0</self_collide>\n <inertial>\n <mass>118.001000</mass>\n <pose>-0.062421 0.000000 0.201365 0.000000 0.000000 0.000000</pose>\n <inertia>\n <ixx>8.431730</ixx>\n <ixy>-0.009720</ixy>\n <ixz>1.901570</ixz>\n <iyy>8.533050</iyy>\n <iyz>-0.007380</iyz>\n <izz>3.787470</izz>\n </inertia>\n </inertial>\n <collision name='base_footprint_geom'>\n <pose>0.000000 0.000000 0.071000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.001000 0.001000 0.001000</size>\n </box>\n </geometry>\n <surface>\n <bounce/>\n <friction>\n <ode/>\n </friction>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='base_footprint_geom_visual'>\n <geometry>\n <box>\n <size>0.010000 0.010000 0.010000</size>\n </box>\n </geometry>\n </visual>\n <collision name='base_footprint_geom_base_bellow_link'>\n <pose>-0.290000 0.000000 0.851000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.050000 0.370000 0.300000</size>\n </box>\n </geometry>\n <surface>\n <bounce/>\n <friction>\n <ode/>\n </friction>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='base_footprint_geom_base_bellow_link_visual'>\n <pose>-0.290000 0.000000 0.851000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.050000 0.370000 0.300000</size>\n </box>\n </geometry>\n </visual>\n <collision name='base_footprint_geom_base_link'>\n <pose>0.000000 0.000000 0.051000 0.000000 0.000
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static std::string pr2JointStateLog =
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"<?xml version='1.0'?>\n<gazebo_log>\n<header>\n<log_version>1.0</log_version>\n<gazebo_version>1.4.6</gazebo_version>\n<rand_seed>32606</rand_seed>\n</header>\n\n<chunk encoding='txt'><![CDATA[\n<sdf version ='1.3'>\n<world name='default'>\n <model name='ground_plane'>\n <static>1</static>\n <link name='link'>\n <collision name='collision'>\n <geometry>\n <plane>\n <normal>0.000000 0.000000 1.000000</normal>\n <size>100.000000 100.000000</size>\n </plane>\n </geometry>\n <surface>\n <friction>\n <ode>\n <mu>100.000000</mu>\n <mu2>50.000000</mu2>\n </ode>\n </friction>\n <bounce/>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='visual'>\n <cast_shadows>0</cast_shadows>\n <geometry>\n <plane>\n <normal>0.000000 0.000000 1.000000</normal>\n <size>100.000000 100.000000</size>\n </plane>\n </geometry>\n <material>\n <script>\n <uri>file://media/materials/scripts/gazebo.material</uri>\n <name>Gazebo/Grey</name>\n </script>\n </material>\n </visual>\n <velocity_decay>\n <linear>0.000000</linear>\n <angular>0.000000</angular>\n </velocity_decay>\n <self_collide>0</self_collide>\n <kinematic>0</kinematic>\n <gravity>1</gravity>\n </link>\n </model>\n <light name='sun' type='directional'>\n <cast_shadows>1</cast_shadows>\n <pose>0.000000 0.000000 10.000000 0.000000 0.000000 0.000000</pose>\n <diffuse>0.800000 0.800000 0.800000 1.000000</diffuse>\n <specular>0.100000 0.100000 0.100000 1.000000</specular>\n <attenuation>\n <range>1000.000000</range>\n <constant>0.900000</constant>\n <linear>0.010000</linear>\n <quadratic>0.001000</quadratic>\n </attenuation>\n <direction>-0.500000 0.500000 -1.000000</direction>\n </light>\n <model name='pr2'>\n <static>0</static>\n <link name='base_footprint'>\n <self_collide>0</self_collide>\n <inertial>\n <mass>118.001000</mass>\n <pose>-0.062421 0.000000 0.201365 0.000000 0.000000 0.000000</pose>\n <inertia>\n <ixx>8.431730</ixx>\n <ixy>-0.009720</ixy>\n <ixz>1.901570</ixz>\n <iyy>8.533050</iyy>\n <iyz>-0.007380</iyz>\n <izz>3.787470</izz>\n </inertia>\n </inertial>\n <collision name='base_footprint_geom'>\n <pose>0.000000 0.000000 0.071000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.001000 0.001000 0.001000</size>\n </box>\n </geometry>\n <surface>\n <bounce/>\n <friction>\n <ode/>\n </friction>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='base_footprint_geom_visual'>\n <geometry>\n <box>\n <size>0.010000 0.010000 0.010000</size>\n </box>\n </geometry>\n </visual>\n <collision name='base_footprint_geom_base_bellow_link'>\n <pose>-0.290000 0.000000 0.851000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.050000 0.370000 0.300000</size>\n </box>\n </geometry>\n <surface>\n <bounce/>\n <friction>\n <ode/>\n </friction>\n <contact>\n <ode/>\n </contact>\n </surface>\n </collision>\n <visual name='base_footprint_geom_base_bellow_link_visual'>\n <pose>-0.290000 0.000000 0.851000 0.000000 0.000000 0.000000</pose>\n <geometry>\n <box>\n <size>0.050000 0.370000 0.300000</size>\n </box>\n </geometry>\n </visual>\n <collision name='base_footprint_geom_base_link'>\n <pose>0.000000 0.000000 0.051000 0.000000 0.000
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#endif
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