100 lines
2.8 KiB
XML
100 lines
2.8 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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<model name="box_imu_noise">
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<pose>2 0 5 0 0 0</pose>
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<link name="link">
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<inertial>
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<inertia>
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<ixx>1.8</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>10.8</iyy>
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<iyz>0.0</iyz>
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<izz>10.8</izz>
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</inertia>
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<mass>10.0</mass>
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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>3.6 0.2 0.2</size>
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</box>
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</geometry>
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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>3.6 0.2 0.2</size>
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</box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.2 1.0</ambient>
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<diffuse>.421 0.225 0.0 1.0</diffuse>
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</material>
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</visual>
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<sensor name='imu_sensor' type='imu'>
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<always_on>1</always_on>
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<update_rate>1000</update_rate>
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<imu>
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<angular_velocity>
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<x>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.0002</stddev>
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<bias_mean>7.5e-06</bias_mean>
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<bias_stddev>8e-07</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.0002</stddev>
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<bias_mean>7.5e-06</bias_mean>
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<bias_stddev>8e-07</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.0002</stddev>
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<bias_mean>7.5e-06</bias_mean>
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<bias_stddev>8e-07</bias_stddev>
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</noise>
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</z>
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</angular_velocity>
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<linear_acceleration>
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<x>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.017</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.017</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.017</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</z>
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</linear_acceleration>
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</imu>
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</sensor>
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</link>
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</model>
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</world>
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</sdf>
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