75 lines
1.9 KiB
Plaintext
75 lines
1.9 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="libRubblePlugin.so" name="rubble">
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<bottom_right>-.5 -1 0.0</bottom_right>
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<top_left>0.5 1.0 0.4</top_left>
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<min_size>0.05 0.05 0.05</min_size>
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<max_size>0.2 0.2 0.2</max_size>
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<min_mass>0.1</min_mass>
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<max_mass>1.0</max_mass>
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<count>100</count>
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</plugin>
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<model name="right_wall">
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<static>true</static>
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<pose>0 -1.1 0.5 0 0 0</pose>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>5 0.2 1.0</size>
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</box>
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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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<box>
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<size>5 0.2 1.0</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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</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="left_wall">
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<static>true</static>
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<pose>0 1.1 0.5 0 0 0</pose>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>5 0.2 1.0</size>
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</box>
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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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<box>
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<size>5 0.2 1.0</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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</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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