1074 lines
29 KiB
XML
1074 lines
29 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="default">
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<physics type="ode">
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<ode>
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<solver>
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<type>quick</type>
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<iters>1000</iters>
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<precon_iters>0</precon_iters>
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<sor>1.0</sor>
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</solver>
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<constraints>
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<cfm>0.000000</cfm>
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<erp>0.200000</erp>
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<contact_max_correcting_vel>1000.0</contact_max_correcting_vel>
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<contact_surface_layer>0.0</contact_surface_layer>
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</constraints>
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</ode>
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</physics>
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<gui>
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<camera name="user_camera">
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<pose>-4 1.5 1.9 0 0.17 -0.014</pose>
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</camera>
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</gui>
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<include>
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<uri>model://sun</uri>
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</include>
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<model name='sphere_mass_1'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>0.4 0 0.1 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>0.41887902047863923</mass>
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<inertia>
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<ixx>0.0016755160819145573</ixx>
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<izz>0.0016755160819145573</izz>
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<ixy>0.0</ixy>
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<iyz>0.0</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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<friction>
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<torsional>
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<coefficient>0.005</coefficient>
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</torsional>
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</friction>
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<contact>
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<ode>
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<kp>500000</kp>
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<max_vel>10000</max_vel>
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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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/CoM</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='sphere_mass_2'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>0.8 0 0.1 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>4.188790204786391</mass>
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<ixy>0.0</ixy>
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<iyz>0.0</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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<friction>
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<torsional>
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<coefficient>0.005</coefficient>
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</torsional>
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</friction>
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<contact>
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<ode>
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<kp>500000</kp>
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<max_vel>10000</max_vel>
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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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/CoM</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='sphere_mass_3'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>1.2000000000000002 0 0.1 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>11.309733552923259</mass>
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<inertia>
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<ixz>0.0</ixz>
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<iyz>0.0</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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<friction>
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<torsional>
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<coefficient>0.005</coefficient>
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</torsional>
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</friction>
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<contact>
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<ode>
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<kp>500000</kp>
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<max_vel>10000</max_vel>
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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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/CoM</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='sphere_mass_4'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>1.6 0 0.1 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>20.94395102393196</mass>
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<inertia>
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<ixx>0.08377580409572787</ixx>
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<iyy>0.08377580409572787</iyy>
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<izz>0.08377580409572787</izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<friction>
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<torsional>
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<coefficient>0.005</coefficient>
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</torsional>
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</friction>
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<contact>
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<ode>
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<kp>500000</kp>
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<max_vel>10000</max_vel>
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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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/CoM</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='sphere_mass_5'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>2.0 0 0.1 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>41.88790204786392</mass>
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<inertia>
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<ixx>0.16755160819145573</ixx>
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<iyy>0.16755160819145573</iyy>
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<izz>0.16755160819145573</izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<friction>
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<torsional>
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<coefficient>0.005</coefficient>
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</torsional>
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</friction>
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<contact>
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<ode>
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<kp>500000</kp>
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<max_vel>10000</max_vel>
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</ode>
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</contact>
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</collision>
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<visual name="visual">
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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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/CoM</name>
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</script>
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</visual>
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</link>
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</model>
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<model name='sphere_coefficient_1'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>0.4 1 0.1 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>11.309733552923259</mass>
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<collision name="collision">
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<geometry>
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<sphere>
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<contact>
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<ode>
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<kp>500000</kp>
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<visual name="visual">
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<geometry>
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<sphere>
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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/CoM</name>
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</script>
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</model>
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<model name='sphere_coefficient_2'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>0.8 1 0.1 0 0 0</pose>
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<link name="link">
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<mass>11.309733552923259</mass>
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<izz>0.045238934211693047</izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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</inertia>
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<collision name="collision">
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<geometry>
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<sphere>
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<radius>0.1</radius>
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<surface>
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<friction>
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<torsional>
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<coefficient>0.001</coefficient>
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<patch_radius>2.0</patch_radius>
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</torsional>
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<contact>
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<ode>
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<kp>500000</kp>
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<visual name="visual">
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<geometry>
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<sphere>
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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/CoM</name>
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</script>
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</material>
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<model name='sphere_coefficient_3'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>1.2000000000000002 1 0.1 0 0 0</pose>
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<link name="link">
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</inertia>
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<collision name="collision">
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<geometry>
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<sphere>
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<surface>
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<friction>
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<torsional>
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<coefficient>0.005</coefficient>
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<patch_radius>2.0</patch_radius>
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</torsional>
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</friction>
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<contact>
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<ode>
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<kp>500000</kp>
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</ode>
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</contact>
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<visual name="visual">
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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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/CoM</name>
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</script>
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</material>
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</visual>
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</model>
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<model name='sphere_coefficient_4'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>1.6 1 0.1 0 0 0</pose>
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<link name="link">
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<iyz>0.0</iyz>
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</inertia>
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<collision name="collision">
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<coefficient>0.01</coefficient>
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<patch_radius>2.0</patch_radius>
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</torsional>
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</friction>
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<contact>
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<ode>
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<kp>500000</kp>
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</surface>
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<visual name="visual">
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<geometry>
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<sphere>
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</sphere>
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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/CoM</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='sphere_coefficient_5'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>2.0 1 0.1 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>11.309733552923259</mass>
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<ixx>0.045238934211693047</ixx>
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<iyy>0.045238934211693047</iyy>
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<izz>0.045238934211693047</izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<friction>
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<torsional>
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<coefficient>1.0</coefficient>
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<patch_radius>2.0</patch_radius>
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</torsional>
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</friction>
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<contact>
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<ode>
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<kp>500000</kp>
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<visual name="visual">
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<geometry>
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<sphere>
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</sphere>
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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/CoM</name>
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</script>
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</material>
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</visual>
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<model name='sphere_patch_1'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>0.4 2 0.1 0 0 0</pose>
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<link name="link">
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