74 lines
1.7 KiB
Plaintext
74 lines
1.7 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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<!-- a static object -->
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<model name="cylinder_model">
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<static>true</static>
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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>0 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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<sensor name="box_imu_sensor" type="imu">
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<always_on>1</always_on>
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</sensor>
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</link>
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</model>
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<!-- a ray sensor -->
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<include>
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<uri>model://hokuyo</uri>
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<pose>-1.0 0 0.5 0 0 0</pose>
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</include>
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</world>
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</sdf>
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