191 lines
4.5 KiB
XML
191 lines
4.5 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="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<contact>
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<collide_bitmask>0xff</collide_bitmask>
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</contact>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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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="box1">
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<pose>0 0 0.5 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>2.166667</iyy>
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<iyz>0</iyz>
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<izz>2.166667</izz>
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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>5 1 1</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<collide_bitmask>0x01</collide_bitmask>
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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>5 1 1</size>
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</box>
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</geometry>
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</visual>
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</link>
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</model>
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<model name="box2">
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<pose>-1.5 1.5 0.5 0 0 1.57</pose>
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<link name="link">
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>2.166667</iyy>
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<iyz>0</iyz>
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<izz>2.166667</izz>
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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>5 1 1</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<collide_bitmask>0x02</collide_bitmask>
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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>5 1 1</size>
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</box>
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</geometry>
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</visual>
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</link>
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</model>
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<model name="box3">
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<pose>0 1.5 1.5 0 0 2.24</pose>
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<link name="link">
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>2.166667</iyy>
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<iyz>0</iyz>
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<izz>2.166667</izz>
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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>5 1 1</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<collide_bitmask>0x03</collide_bitmask>
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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>5 1 1</size>
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</box>
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</geometry>
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</visual>
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</link>
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</model>
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<model name="box4">
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<pose>0 -3 1.0 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>2.166667</iyy>
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<iyz>0</iyz>
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<izz>2.166667</izz>
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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>5 1 1</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<collide_bitmask>0x10000</collide_bitmask>
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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>5 1 1</size>
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</box>
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</geometry>
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</visual>
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</link>
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</model>
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</world>
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</sdf>
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