86 lines
2.1 KiB
XML
86 lines
2.1 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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<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">
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<pose>2 0 0 0 0 0</pose>
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<link name="body">
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<inertial>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<collision name="geom">
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<geometry>
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<sphere>
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<radius>1</radius>
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</sphere>
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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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<sphere>
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<radius>1</radius>
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</sphere>
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</geometry>
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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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<static>true</static>
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</model>
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<model name="camera_model">
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<pose>0 0 0 0 0 0</pose>
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<link name="my_link">
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<inertial>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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<mass>1.0</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>1 1 1</size>
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</box>
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</geometry>
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</collision>
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<sensor name="camera" type="depth">
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<camera>
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<horizontal_fov>1.04719755</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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</image>
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<clip>
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<near>0.1</near>
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<far>20</far>
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</clip>
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</camera>
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<plugin filename="libDepthCameraPlugin.so" name="depth_camera_plugin" />
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<always_on>true</always_on>
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<update_rate>10</update_rate>
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</sensor>
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</link>
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<static>true</static>
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</model>
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</world>
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</sdf>
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