51 lines
1.1 KiB
XML
51 lines
1.1 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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<plugin filename="libTransporterPlugin.so" name="transporter">
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<activation_topic>~/transporter</activation_topic>
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<pad name="pad1">
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<destination>pad2</destination>
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<!-- See examples/stand_alone_transporter.cc for an example of
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activating a manual transporter -->
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<activation>manual</activation>
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<outgoing>
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<min>-.5 -.5 0</min>
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<max>.5 .5 1</max>
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</outgoing>
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<incoming>
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<pose>2 3.5 0 0 0 0</pose>
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</incoming>
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</pad>
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<pad name="pad2">
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<destination>pad1</destination>
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<activation>auto</activation>
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<outgoing>
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<min>-.5 3.0 0</min>
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<max>.5 4.0 1</max>
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</outgoing>
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<incoming>
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<pose>2 0 0 0 0 0</pose>
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</incoming>
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</pad>
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</plugin>
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</world>
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</sdf>
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