475 lines
14 KiB
XML
475 lines
14 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.4">
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<model name="turtlebot">
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<link name="rack">
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<inertial>
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<pose>0.001453 -0.000453 0.029787 0 0 0</pose>
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<inertia>
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<ixx>0.058640</ixx>
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<ixy>0.000124</ixy>
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<ixz>0.000615</ixz>
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<iyy>0.058786</iyy>
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<iyz>0.000014</iyz>
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<izz>1.532440</izz>
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</inertia>
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<mass>2.234000</mass>
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</inertial>
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<collision name="plate_0_collision">
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<pose>-0.043340 0 0.084757 0 0 0</pose>
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<geometry>
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<box>
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<size>0.233502 0.314845 0.006401</size>
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</box>
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</geometry>
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</collision>
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<visual name="plate_0_visual">
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<pose>-0.043340 0 0.084757 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot/meshes/plate_0_logo.dae</uri>
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</mesh>
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</visual>
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<collision name="plate_1_collision">
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<pose>-0.002660 0 0.141907 0 0 0</pose>
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<geometry>
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<box>
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</box>
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<visual name="plate_1_visual">
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<pose>-0.002660 0 0.141907 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot/meshes/plate_1_logo.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name="plate_2_collision">
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<pose>-0.002660 0 0.199108 0 0 0</pose>
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<geometry>
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<visual name="plate_2_visual">
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<pose>-0.002660 0 0.199108 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot/meshes/plate_1_logo.dae</uri>
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</visual>
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<collision name="plate_3_collision">
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<pose>-0.015820 0 0.405457 0 0 0</pose>
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<geometry>
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<box>
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<visual name="plate_3_visual">
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<pose>-0.015820 0 0.405457 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot/meshes/plate_2_logo.dae</uri>
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</mesh>
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</visual>
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<collision name="spacer_0_collision">
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<geometry>
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<radius>0.012700</radius>
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<length>0.003175</length>
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</geometry>
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<visual name="spacer_0_visual">
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<geometry>
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</geometry>
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</visual>
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<collision name="spacer_1_collision">
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<geometry>
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</geometry>
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<visual name="spacer_1_visual">
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<geometry>
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<mesh>
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<uri>model://turtlebot/meshes/68-02403-125_Spacer.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name="spacer_2_collision">
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<pose>-0.072390 -0.111468 0.079992 0 0 0</pose>
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<geometry>
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<visual name="spacer_2_visual">
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<geometry>
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<mesh>
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</geometry>
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</visual>
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<collision name="spacer_3_collision">
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<visual name="spacer_3_visual">
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<pose>-0.072390 0.111468 0.079992 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot/meshes/68-02403-125_Spacer.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name="standoff_2in_0_collision">
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<pose>0.067640 0.131420 0.087980 0 0 0</pose>
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<geometry>
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</geometry>
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<visual name="standoff_2in_0_visual">
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<pose>0.067640 0.131420 0.087980 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name="standoff_2in_1_collision">
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<pose>0.067640 -0.131420 0.087980 0 0 0</pose>
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<geometry>
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</geometry>
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<visual name="standoff_2in_1_visual">
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<pose>0.067640 -0.131420 0.087980 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name="standoff_2in_2_collision">
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<pose>-0.052832 -0.131420 0.087980 0 0 0</pose>
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<visual name="standoff_2in_2_visual">
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<pose>-0.052832 -0.131420 0.087980 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
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</mesh>
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<collision name="standoff_2in_3_collision">
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<pose>-0.052832 0.131420 0.087980 0 0 0</pose>
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<pose>-0.052832 0.131420 0.087980 0 0 0</pose>
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<geometry>
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<mesh>
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<collision name="standoff_2in_4_collision">
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<visual name="standoff_2in_4_visual">
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<pose>0.067640 0.131420 0.145130 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
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<collision name="standoff_2in_5_collision">
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<pose>0.067640 -0.131420 0.145130 0 0 0</pose>
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<visual name="standoff_2in_5_visual">
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<pose>0.067640 -0.131420 0.145130 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
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<collision name="standoff_2in_6_collision">
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<pose>-0.052832 -0.131420 0.145130 0 0 0</pose>
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<pose>-0.052832 -0.131420 0.145130 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae</uri>
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<visual name="standoff_2in_7_visual">
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<pose>-0.052832 0.131420 0.145130 0 0 0</pose>
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<geometry>
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<mesh>
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<visual name="standoff_8in_0_visual">
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<pose>0.067640 0.131420 0.202280 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot/meshes/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae</uri>
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</visual>
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<collision name="standoff_8in_1_collision">
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<pose>0.067640 -0.131420 0.202280 0 0 0</pose>
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<pose>0.067640 -0.131420 0.202280 0 0 0</pose>
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<geometry>
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<mesh>
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<pose>-0.052832 -0.131420 0.202280 0 0 0</pose>
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<geometry>
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<mesh>
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<pose>-0.052832 0.131420 0.202280 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot/meshes/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae</uri>
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</mesh>
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<collision name="standoff_kinect_0_collision">
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<pose>-0.105098 0.098000 0.202308 0 0 0</pose>
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<pose>-0.105098 0.098000 0.202308 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot/meshes/68-04556-RA_Kinect_Standoff_Assy.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name="standoff_kinect_1_collision">
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<pose>-0.105098 -0.098000 0.202308 0 0 0</pose>
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<geometry>
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<visual name="standoff_kinect_1_visual">
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<pose>-0.105098 -0.098000 0.202308 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot/meshes/68-04556-RA_Kinect_Standoff_Assy.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<sensor name="laser" type="ray">
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<pose>-0.065000 0 0.092000 0 0 0</pose>
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<ray>
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<scan>
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<horizontal>
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<samples>180</samples>
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<resolution>1.000000</resolution>
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<min_angle>-2.268928</min_angle>
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<max_angle>2.268928</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.080000</min>
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<max>10</max>
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<resolution>0.010000</resolution>
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</range>
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</ray>
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<!--
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<plugin name='laser_controller' filename='libgazebo_ros_laser.so'>
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<gaussianNoise>0.005</gaussianNoise>
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<alwaysOn>1</alwaysOn>
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<updateRate>20</updateRate>
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<topicName>scan</topicName>
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<frameName>laser</frameName>
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</plugin>-->
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<update_rate>20</update_rate>
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</sensor>
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</link>
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<include>
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<uri>model://create</uri>
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</include>
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<include>
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<uri>model://kinect</uri>
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<pose>-0.087098 0 0.303857 0 0 0</pose>
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</include>
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<joint name='create_rack' type='revolute'>
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<parent>create::base</parent>
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<child>rack</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>0</lower>
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<upper>0</upper>
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</limit>
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</axis>
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</joint>
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<joint name='kinect_rack' type='revolute'>
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<parent>kinect::link</parent>
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<child>rack</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>0</lower>
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<upper>0</upper>
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</limit>
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</axis>
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</joint>
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</model>
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</sdf>
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