81 lines
1.9 KiB
XML
81 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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<!-- 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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<!-- 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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<!-- Testing a population with 0 models -->
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<population name="can_population1">
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<model name="can1">
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<include>
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<uri>model://coke_can</uri>
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</include>
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</model>
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<pose>3 3 0 0 0 0</pose>
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<box>
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<size>1 1 0.1</size>
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</box>
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<model_count>0</model_count>
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<distribution>
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<type>random</type>
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</distribution>
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</population>
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<!-- Testing a population with a negative number of models -->
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<population name="can_population1">
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<model name="can1">
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<include>
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<uri>model://coke_can</uri>
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</include>
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</model>
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<pose>3 3 0 0 0 0</pose>
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<box>
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<size>1 1 0.1</size>
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</box>
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<model_count>-5</model_count>
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<distribution>
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<type>uniform</type>
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</distribution>
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</population>
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<!-- Testing a 2D grid population with 0 rows -->
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<population name="can_population2">
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<model name="can2">
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<include>
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<uri>model://coke_can</uri>
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</include>
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</model>
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<pose>-0.25 -0.5 0 0 0 0</pose>
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<distribution>
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<type>grid</type>
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<rows>0</rows>
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<cols>3</cols>
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<step>0.25 0.25 0</step>
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</distribution>
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</population>
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<!-- Testing a 2D grid population with a negative number of columns -->
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<population name="can_population2">
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<model name="can2">
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<include>
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<uri>model://coke_can</uri>
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</include>
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</model>
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<pose>-0.25 -0.5 0 0 0 0</pose>
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<distribution>
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<type>grid</type>
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<rows>2</rows>
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<cols>-3</cols>
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<step>0.25 0.25 0</step>
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</distribution>
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</population>
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</world>
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</sdf>
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