138 lines
3.2 KiB
XML
138 lines
3.2 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.6">
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<world name="default">
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<include>
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<uri>model://sun</uri>
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</include>
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<model name="pointcloud_camera">
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<static>true</static>
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<pose>0.0 0.0 0.5 0 0 0</pose>
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<link name="link">
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<pose>0.0 0.0 0.0 0 0 0</pose>
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<inertial>
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<mass>0.1</mass>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.1 0.1 0.1</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>0.1 0.1 0.1</size>
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</box>
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</geometry>
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</visual>
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<sensor name="pointcloud_camera_sensor" type="depth">
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<camera>
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<horizontal_fov>0.7854</horizontal_fov>
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<image>
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<width>320</width>
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<height>240</height>
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</image>
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<clip>
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<near>0.1</near>
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<far>100</far>
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</clip>
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<depth_camera>
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<output>points</output>
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</depth_camera>
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</camera>
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<always_on>1</always_on>
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<update_rate>10</update_rate>
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<visualize>false</visualize>
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</sensor>
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</link>
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</model>
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<model name="tr_box">
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<static>true</static>
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<pose>1.0 -0.5 1.0 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>1 1 1</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>1 1 1</size>
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</box>
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</geometry>
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</visual>
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</link>
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</model>
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<model name="tl_box">
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<static>true</static>
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<pose>1.2 0.5 1.0 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>1 1 1</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>1 1 1</size>
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</box>
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</geometry>
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</visual>
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</link>
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</model>
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<model name="br_box">
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<static>true</static>
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<pose>1.4 -0.5 0.0 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>1 1 1</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>1 1 1</size>
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</box>
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</geometry>
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</visual>
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</link>
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</model>
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<model name="bl_box">
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<static>true</static>
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<pose>1.8 0.5 0.0 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>1 1 1</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>1 1 1</size>
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</box>
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</geometry>
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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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