125 lines
3.3 KiB
Plaintext
125 lines
3.3 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.4">
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<world name="default">
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<!-- A ground plane -->
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<!-- A global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<model name="model_1">
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<static>true</static>
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<pose>0 0 0.5 0. 0 0</pose>
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<link name="link_1">
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<inertial>
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<mass>0.1</mass>
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</inertial>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://hokuyo/meshes/hokuyo.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name="collision-base">
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<pose>0 0 -0.0145 0 0 0</pose>
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<geometry>
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<box>
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<size>0.05 0.05 0.041</size>
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</box>
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</geometry>
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</collision>
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<collision name="collision-top">
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<pose>0 0 0.0205 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.021</radius>
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<length>0.029</length>
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</cylinder>
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</geometry>
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</collision>
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<sensor name="laser_sensor" type="ray">
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<pose>0.1 0 0.0175 0 -0 0</pose>
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<ray>
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<scan>
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<horizontal>
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<samples>320</samples>
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<resolution>1</resolution>
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<min_angle>-1.0</min_angle>
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<max_angle>1.0</max_angle>
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</horizontal>
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<vertical>
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<samples>3</samples>
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<resolution>1</resolution>
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<min_angle>-0.1</min_angle>
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<max_angle>0.1</max_angle>
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</vertical>
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</scan>
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<range>
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<min>0.08</min>
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<max>10.0</max>
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<resolution>0.01</resolution>
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</range>
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</ray>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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</sensor>
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</link>
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</model>
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<!-- a static object -->
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<model name="cylinder_model">
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<static>true</static>
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<pose>6 -1.5 0 0 0 0</pose>
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<link name="cylinder_link">
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<visual name="cylinder_visual">
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<pose>0 0 0.5 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.5</radius>
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<length>1.0</length>
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</cylinder>
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</geometry>
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</visual>
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<collision name="cylinder_collision">
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<pose>0 0 0.5 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.5</radius>
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<length>1.0</length>
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</cylinder>
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</geometry>
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</collision>
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</link>
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</model>
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<!-- a non-static object -->
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<model name="box_model">
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<static>false</static>
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<pose>3 0.8 0 0 0 0</pose>
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<link name="box_link">
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<visual name="box_visual">
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<pose>0 0 0.5 0 0 0</pose>
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<geometry>
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<box>
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<size>1.0 1.0 1.0</size>
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</box>
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</geometry>
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</visual>
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<collision name="box_collision">
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<pose>0 0 0.5 0 0 0</pose>
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<geometry>
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<box>
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<size>1.0 1.0 1.0</size>
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</box>
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</geometry>
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</collision>
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</link>
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</model>
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</world>
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</sdf>
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