593 lines
17 KiB
Plaintext
593 lines
17 KiB
Plaintext
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<world name='default'>
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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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</model>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<ambient>0.4 0.4 0.4 1</ambient>
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<shadows>1</shadows>
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</scene>
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<latitude_deg>0</latitude_deg>
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<longitude_deg>0</longitude_deg>
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<elevation>0</elevation>
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<heading_deg>0</heading_deg>
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</spherical_coordinates>
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<model name='clean_room'>
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<pose frame=''>-0.225 -3.145 0 0 -0 0</pose>
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<link name='Wall_0'>
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<collision name='Wall_0_Collision'>
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<box>
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<size>6 0.15 2.5</size>
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</box>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<contact>
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<ode/>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</surface>
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<visual name='Wall_0_Visual'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<geometry>
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<box>
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<size>6 0.15 2.5</size>
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</box>
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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/CeilingTiled</name>
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</script>
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<ambient>1 1 1 1</ambient>
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</material>
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<pose frame=''>0 1.925 0 0 -0 0</pose>
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<gravity>1</gravity>
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</link>
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<link name='Wall_1'>
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<collision name='Wall_1_Collision'>
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<geometry>
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<box>
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<size>4 0.15 2.5</size>
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</box>
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</geometry>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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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='Wall_1_Visual'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<geometry>
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<box>
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<size>4 0.15 2.5</size>
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</box>
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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/CeilingTiled</name>
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</script>
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<ambient>1 1 1 1</ambient>
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</material>
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<pose frame=''>2.925 0 0 0 0 -1.5708</pose>
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<gravity>1</gravity>
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<link name='Wall_12'>
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<collision name='Wall_12_Collision'>
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<geometry>
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<box>
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<size>1.25 0.15 2.5</size>
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</box>
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</geometry>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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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='Wall_12_Visual'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<geometry>
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<box>
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<size>1.25 0.15 2.5</size>
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</box>
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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/Wood</name>
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</script>
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<ambient>1 1 1 1</ambient>
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</material>
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</visual>
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<pose frame=''>-0.032459 1.37074 0 0 0 -1.5708</pose>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<link name='Wall_15'>
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<collision name='Wall_15_Collision'>
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<geometry>
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<box>
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<size>1.5 0.15 2.5</size>
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</box>
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</geometry>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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<visual name='Wall_15_Visual'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<geometry>
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<box>
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<size>1.5 0.15 2.5</size>
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</box>
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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/Wood</name>
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</script>
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<ambient>1 1 1 1</ambient>
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</material>
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</visual>
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<pose frame=''>-0.033608 -1.2111 0 0 -0 1.5708</pose>
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<self_collide>0</self_collide>
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<gravity>1</gravity>
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</link>
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<link name='Wall_2'>
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<collision name='Wall_2_Collision'>
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<geometry>
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<box>
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<size>6 0.15 2.5</size>
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</box>
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</geometry>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</surface>
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<visual name='Wall_2_Visual'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<geometry>
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<box>
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<size>6 0.15 2.5</size>
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</box>
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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/CeilingTiled</name>
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</script>
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<ambient>1 1 1 1</ambient>
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</material>
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<pose frame=''>0 -1.925 0 0 -0 3.14159</pose>
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<gravity>1</gravity>
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</link>
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<link name='Wall_3'>
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<collision name='Wall_3_Collision'>
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<geometry>
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<box>
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<size>4 0.15 2.5</size>
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</box>
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</geometry>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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|
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<friction>
|
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|
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<torsional>
|
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|
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<ode/>
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</torsional>
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|
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<ode/>
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</friction>
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|
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</surface>
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</collision>
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<visual name='Wall_3_Visual'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<geometry>
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<box>
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|
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<size>4 0.15 2.5</size>
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</box>
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</geometry>
|
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|
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<material>
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||
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|
<script>
|
||
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<uri>file://media/materials/scripts/gazebo.material</uri>
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||
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<name>Gazebo/CeilingTiled</name>
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||
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</script>
|
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|
<ambient>1 1 1 1</ambient>
|
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|
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</material>
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</visual>
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<pose frame=''>-2.925 0 0 0 -0 1.5708</pose>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<static>1</static>
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</model>
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<model name='unit_box_0'>
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<pose frame=''>-0.943901 -1.17332 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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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.166667</iyy>
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<iyz>0</iyz>
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<izz>0.166667</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>1 1 1</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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|
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<ode/>
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</contact>
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<bounce/>
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<friction>
|
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|
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<torsional>
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|
|
<ode/>
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|
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</torsional>
|
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|
|
<ode/>
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|
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</friction>
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|
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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>1 1 1</size>
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</box>
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|
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</geometry>
|
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|
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<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Grey</name>
|
||
|
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<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
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|
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</visual>
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<self_collide>0</self_collide>
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|
|
<kinematic>0</kinematic>
|
||
|
|
<gravity>1</gravity>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
<state world_name='default'>
|
||
|
|
<sim_time>211 64000000</sim_time>
|
||
|
|
<real_time>8 289779519</real_time>
|
||
|
|
<wall_time>1593047453 346825405</wall_time>
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||
|
|
<iterations>8260</iterations>
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||
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|
<model name='clean_room'>
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||
|
|
<pose frame=''>-2.27449 -1.25584 0 0 -0 0</pose>
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||
|
|
<scale>1 1 1</scale>
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||
|
|
<link name='Wall_0'>
|
||
|
|
<pose frame=''>-2.27449 0.669159 0 0 -0 0</pose>
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||
|
|
<velocity>0 0 0 0 -0 0</velocity>
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||
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
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||
|
|
<wrench>0 0 0 0 -0 0</wrench>
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||
|
|
</link>
|
||
|
|
<link name='Wall_1'>
|
||
|
|
<pose frame=''>0.650514 -1.25584 0 0 0 -1.5708</pose>
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||
|
|
<velocity>0 0 0 0 -0 0</velocity>
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||
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
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||
|
|
<wrench>0 0 0 0 -0 0</wrench>
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||
|
|
</link>
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||
|
|
<link name='Wall_12'>
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||
|
|
<pose frame=''>-2.30694 0.114899 0 0 0 -1.5708</pose>
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||
|
|
<velocity>0 0 0 0 -0 0</velocity>
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||
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|
<acceleration>0 0 0 0 -0 0</acceleration>
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||
|
|
<wrench>0 0 0 0 -0 0</wrench>
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||
|
|
</link>
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||
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|
<link name='Wall_15'>
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||
|
|
<pose frame=''>-2.30809 -2.46694 0 0 -0 1.5708</pose>
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||
|
|
<velocity>0 0 0 0 -0 0</velocity>
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||
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|
<acceleration>0 0 0 0 -0 0</acceleration>
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||
|
|
<wrench>0 0 0 0 -0 0</wrench>
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||
|
|
</link>
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||
|
|
<link name='Wall_2'>
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||
|
|
<pose frame=''>-2.27449 -3.18084 0 0 -0 3.14159</pose>
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||
|
|
<velocity>0 0 0 0 -0 0</velocity>
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||
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|
<acceleration>0 0 0 0 -0 0</acceleration>
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||
|
|
<wrench>0 0 0 0 -0 0</wrench>
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||
|
|
</link>
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||
|
|
<link name='Wall_3'>
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||
|
|
<pose frame=''>-5.19949 -1.25584 0 0 -0 1.5708</pose>
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||
|
|
<velocity>0 0 0 0 -0 0</velocity>
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||
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
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||
|
|
<wrench>0 0 0 0 -0 0</wrench>
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||
|
|
</link>
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||
|
|
</model>
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||
|
|
<model name='ground_plane'>
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||
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
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||
|
|
<scale>1 1 1</scale>
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||
|
|
<link name='link'>
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||
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
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||
|
|
<velocity>0 0 0 0 -0 0</velocity>
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||
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
||
|
|
<wrench>0 0 0 0 -0 0</wrench>
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||
|
|
</link>
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||
|
|
</model>
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||
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|
<model name='unit_box_0'>
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||
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|
<pose frame=''>-0.943902 -1.17416 0.827873 4e-06 -1e-06 3e-06</pose>
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||
|
|
<scale>1 1 1.65575</scale>
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||
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<link name='link'>
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||
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|
<pose frame=''>-0.943902 -1.17416 0.827873 4e-06 -1e-06 3e-06</pose>
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||
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|
<velocity>0 0 0 0 -0 0</velocity>
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||
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|
<acceleration>2.2913 -2.31936 -5.06986 -0.472089 0.332594 -3.05735</acceleration>
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||
|
|
<wrench>2.2913 -2.31936 -5.06986 0 -0 0</wrench>
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||
|
|
</link>
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||
|
|
</model>
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||
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|
<model name='unit_box_1'>
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||
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|
<pose frame=''>-0.589861 -2.72216 0.499997 0 -7e-06 0</pose>
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||
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|
<scale>1 0.451115 1</scale>
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||
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|
<link name='link'>
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||
|
|
<pose frame=''>-0.589861 -2.72216 0.499997 0 -7e-06 0</pose>
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||
|
|
<velocity>0 0 0 0 -0 0</velocity>
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||
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|
<acceleration>-0.000647 -0.913095 0.411631 1.82618 -0.00123 0.0001</acceleration>
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||
|
|
<wrench>-0.000647 -0.913095 0.411631 0 -0 0</wrench>
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||
|
|
</link>
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||
|
|
</model>
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||
|
|
<model name='unit_box_2'>
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||
|
|
<pose frame=''>-3.70594 -1.29835 0.5 0 -0 0</pose>
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||
|
|
<scale>1 1.44086 1</scale>
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||
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|
<link name='link'>
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||
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|
<pose frame=''>-3.70594 -1.29835 0.5 0 -0 0</pose>
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||
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|
<velocity>0 0 0 0 -0 0</velocity>
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||
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|
<acceleration>9.67937 0.027687 9.68609 -0.055112 0.511953 -7.7e-05</acceleration>
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||
|
|
<wrench>9.67937 0.027687 9.68609 0 -0 0</wrench>
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||
|
|
</link>
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||
|
|
</model>
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||
|
|
<light name='sun'>
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||
|
|
<pose frame=''>0 0 10 0 -0 0</pose>
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||
|
|
</light>
|
||
|
|
</state>
|
||
|
|
<model name='unit_box_1'>
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||
|
|
<pose frame=''>-0.221262 -2.44008 0.5 0 -0 0</pose>
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||
|
|
<link name='link'>
|
||
|
|
<inertial>
|
||
|
|
<mass>1</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.166667</ixx>
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||
|
|
<ixy>0</ixy>
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||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.166667</iyy>
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||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.166667</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name='collision'>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1 1 1</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<bounce/>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
<ode/>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name='visual'>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1 1 1</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Grey</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
<gravity>1</gravity>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
<model name='unit_box_2'>
|
||
|
|
<pose frame=''>-3.70594 -1.29835 0.5 0 -0 0</pose>
|
||
|
|
<link name='link'>
|
||
|
|
<inertial>
|
||
|
|
<mass>1</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.166667</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.166667</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.166667</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name='collision'>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1 0.999993 1</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<bounce/>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
<ode/>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name='visual'>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1 0.999993 1</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Grey</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
<gravity>1</gravity>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
<gui fullscreen='0'>
|
||
|
|
<camera name='user_camera'>
|
||
|
|
<pose frame=''>-1.88641 -2.99318 3.5742 -0 1.23425 0.953003</pose>
|
||
|
|
<view_controller>orbit</view_controller>
|
||
|
|
<projection_type>perspective</projection_type>
|
||
|
|
</camera>
|
||
|
|
</gui>
|
||
|
|
</world>
|
||
|
|
</sdf>
|