384 lines
9.6 KiB
XML
384 lines
9.6 KiB
XML
<?xml version="1.0" ?>
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<!-- this file was generated using embedded ruby -->
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<sdf version="1.5">
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<world name="inertia_rotations">
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<include>
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<uri>model://sun</uri>
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</include>
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<model name="box010409_ref">
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<pose>0 0 0.45 0 0 0</pose>
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<link name="link">
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>12</mass>
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<inertia>
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<ixx>0.97</ixx>
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<iyy>0.82</iyy>
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<izz>0.17</izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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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 0.4 0.9</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<max_vel>0.01</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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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>0.1 0.4 0.9</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/Grey</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="box010409_x90">
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<pose>0 1 0.45 0 0 0</pose>
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<link name="link">
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<inertial>
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<pose>0 0 0 1.5707963267948966 0 0</pose>
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<mass>12</mass>
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<inertia>
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<ixx>0.97</ixx>
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<iyy>0.17</iyy>
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<izz>0.82</izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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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 0.4 0.9</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<max_vel>0.01</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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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>0.1 0.4 0.9</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/Grey</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="box010409_y90">
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<pose>0 2 0.45 0 0 0</pose>
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<link name="link">
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<inertial>
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<pose>0 0 0 0 1.5707963267948966 0</pose>
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<mass>12</mass>
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<inertia>
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<ixx>0.17</ixx>
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<iyy>0.82</iyy>
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<izz>0.97</izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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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 0.4 0.9</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<max_vel>0.01</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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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>0.1 0.4 0.9</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/Grey</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="box010409_z90">
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<pose>0 3 0.45 0 0 0</pose>
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<link name="link">
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<inertial>
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<pose>0 0 0 0 0 1.5707963267948966</pose>
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<mass>12</mass>
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<inertia>
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<ixx>0.82</ixx>
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<iyy>0.97</iyy>
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<izz>0.17</izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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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 0.4 0.9</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<max_vel>0.01</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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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>0.1 0.4 0.9</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/Grey</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="box010409_x45">
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<pose>0 4 0.45 0 0 0</pose>
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<link name="link">
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<inertial>
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<pose>0 0 0 -0.7853981633974483 0 0</pose>
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<mass>12</mass>
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<inertia>
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<ixx>0.97</ixx>
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<iyy>0.495</iyy>
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<izz>0.495</izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0.325</iyz>
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</inertia>
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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 0.4 0.9</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<max_vel>0.01</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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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>0.1 0.4 0.9</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/Grey</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="box010409_y45">
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<pose>0 5 0.45 0 0 0</pose>
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<link name="link">
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<inertial>
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<pose>0 0 0 0 -0.7853981633974483 0</pose>
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<mass>12</mass>
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<inertia>
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<ixx>0.57</ixx>
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<iyy>0.82</iyy>
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<izz>0.57</izz>
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<ixy>0</ixy>
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<ixz>-0.4</ixz>
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<iyz>0</iyz>
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</inertia>
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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 0.4 0.9</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<max_vel>0.01</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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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>0.1 0.4 0.9</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/Grey</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="box010409_z45">
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<pose>0 6 0.45 0 0 0</pose>
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<link name="link">
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<inertial>
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<pose>0 0 0 0 0 -0.7853981633974483</pose>
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<mass>12</mass>
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<inertia>
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<ixx>0.895</ixx>
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<iyy>0.895</iyy>
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<izz>0.17</izz>
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<ixy>0.075</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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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 0.4 0.9</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<max_vel>0.01</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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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>0.1 0.4 0.9</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/Grey</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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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose>4.2 -0.7 2.0 0 0.3 2.57</pose>
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<view_controller>orbit</view_controller>
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</camera>
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</gui>
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</world>
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</sdf>
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