93 lines
2.2 KiB
Plaintext
93 lines
2.2 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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<!-- 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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<plugin filename="libTriggerPlugin.so" name="trigger">
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<point>0 0 0</point>
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<radius>5</radius>
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</plugin>
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<model name="sphere">
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<pose>0 0 10.0 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>1</mass>
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</inertial>
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<collision name="collision">
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<material>
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<script>Gazebo/Grey</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="box">
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<pose>1 0 50.0 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>1</mass>
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</inertial>
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<collision name="collision">
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<material>
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<script>Gazebo/Grey</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="cylinder">
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<pose>5 0 50.0 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>1</mass>
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</inertial>
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<collision name="collision">
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<geometry>
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<sphere>
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<radius>0.2</radius>
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</sphere>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<sphere>
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<radius>0.2</radius>
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</sphere>
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</geometry>
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<material>
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<script>Gazebo/Grey</script>
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</material>
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</visual>
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</link>
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</model>
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</world>
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</sdf>
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