88 lines
1.9 KiB
XML
88 lines
1.9 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<include>
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<uri>model://sun</uri>
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</include>
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<model name="boxA">
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<pose>0 0 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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<surface>
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<contact>
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<collide_bitmask>0x01</collide_bitmask>
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</contact>
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</surface>
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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="boxB">
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<pose>0 0 3.0 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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<surface>
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<contact>
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<collide_bitmask>0x02</collide_bitmask>
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</contact>
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</surface>
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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="boxC">
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<pose>0 0 6.0 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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<surface>
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<contact>
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<collide_bitmask>0x03</collide_bitmask>
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</contact>
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</surface>
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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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