forked from xtdrone/XTDrone
2437 lines
66 KiB
XML
2437 lines
66 KiB
XML
<?xml version="1.0" ?>
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<sdf version='1.6'>
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<world name='default'>
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<model name='ground_plane'>
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<static>1</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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<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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<torsional>
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<ode/>
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</torsional>
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</friction>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<max_contacts>10</max_contacts>
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</collision>
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<visual name='visual'>
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<cast_shadows>0</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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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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</link>
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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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<atmosphere type='adiabatic'/>
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<physics name='default_physics' default='0' type='ode'>
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<real_time_update_rate>250</real_time_update_rate>
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<max_step_size>0.004</max_step_size>
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<real_time_factor>1</real_time_factor>
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<ode>
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<solver>
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<type>quick</type>
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<iters>150</iters>
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<precon_iters>0</precon_iters>
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<sor>1.4</sor>
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<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
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</solver>
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<constraints>
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<cfm>1e-05</cfm>
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<erp>0.2</erp>
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<contact_max_correcting_vel>2000</contact_max_correcting_vel>
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<contact_surface_layer>0.01</contact_surface_layer>
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</constraints>
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</ode>
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</physics>
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>1</shadows>
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</scene>
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<wind/>
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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='cafe'>
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<static>1</static>
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<link name='link'>
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<collision name='main_floor'>
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<pose frame=''>-0.4 -0.75 0.0948 0 -0 0</pose>
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<geometry>
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<box>
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<size>9.38 22.63 0.19</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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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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</collision>
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<collision name='wall_1'>
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<pose frame=''>-5.03 0.53 1.415 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.12 23.16 2.83</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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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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</collision>
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<collision name='wall_2'>
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<pose frame=''>4.24 -0.31 1.415 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.12 21.48 2.83</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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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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</collision>
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<collision name='wall_4'>
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<pose frame=''>2.09 8.9 1.435 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.12 3.05 2.87</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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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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</collision>
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<collision name='wall_5'>
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<pose frame=''>3.155 10.4 1.435 0 -0 0</pose>
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<geometry>
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<box>
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<size>2.13 0.12 2.87</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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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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</collision>
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<collision name='wall_6'>
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<pose frame=''>0.615 -10.98 1.415 0 -0 0</pose>
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<geometry>
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<box>
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<size>7.36 0.15 2.83</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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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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</collision>
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<collision name='wall_7'>
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<pose frame=''>-4.62 -10.98 1.415 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.93 0.15 2.83</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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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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</collision>
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<collision name='wall_8'>
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<pose frame=''>-3.61 -10.98 2.69 0 -0 0</pose>
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<geometry>
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<box>
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<size>1.09 0.15 0.28</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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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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</collision>
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<collision name='coke'>
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<pose frame=''>-4.385 0.26 0.95 0 -0 0</pose>
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<geometry>
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<box>
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<size>1.03 1.03 1.52</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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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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</collision>
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<visual name='visual'>
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<geometry>
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<mesh>
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<uri>model://cafe/meshes/cafe.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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</link>
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<pose frame=''>-0.521969 -2.79591 0 0 -0 0</pose>
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</model>
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<model name='cafe_room'>
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<pose frame=''>0.165031 -6.85753 0 0 -0 0</pose>
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<link name='Wall_0'>
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<pose frame=''>3.8e-05 -1.36625 0 0 -0 0.000649</pose>
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<visual name='Wall_0_Visual_0'>
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<pose frame=''>-2.31327 0 1.425 0 -0 0</pose>
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<geometry>
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<box>
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<size>2.37346 0.15 2.85</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/Bricks</name>
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</script>
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<ambient>0.309804 0.309804 0.309804 1</ambient>
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</material>
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<meta>
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<layer>0</layer>
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</meta>
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</visual>
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<collision name='Wall_0_Collision_0'>
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<geometry>
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<box>
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<size>2.37346 0.15 2.85</size>
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</box>
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</geometry>
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<pose frame=''>-2.31327 0 1.425 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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|
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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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|
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</collision>
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<visual name='Wall_0_Visual_1'>
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<pose frame=''>1.18673 0 0.25 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.62654 0.15 0.5</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/Bricks</name>
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</script>
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<ambient>0.309804 0.309804 0.309804 1</ambient>
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</material>
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<meta>
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<layer>0</layer>
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</meta>
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</visual>
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<collision name='Wall_0_Collision_1'>
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<geometry>
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<box>
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|
<size>4.62654 0.15 0.5</size>
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</box>
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</geometry>
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<pose frame=''>1.18673 0 0.25 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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|
|
<contact>
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|
<ode/>
|
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</contact>
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|
<bounce/>
|
|
<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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|
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</collision>
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<visual name='Wall_0_Visual_2'>
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<pose frame=''>2.68673 0 1.675 0 -0 0</pose>
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<geometry>
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<box>
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<size>1.62654 0.15 2.35</size>
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</box>
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</geometry>
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<material>
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|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Bricks</name>
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</script>
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<ambient>0.309804 0.309804 0.309804 1</ambient>
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</material>
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<meta>
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<layer>0</layer>
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</meta>
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</visual>
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<collision name='Wall_0_Collision_2'>
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<geometry>
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<box>
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<size>1.62654 0.15 2.35</size>
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</box>
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</geometry>
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<pose frame=''>2.68673 0 1.675 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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|
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<contact>
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<ode/>
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</contact>
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<bounce/>
|
|
<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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|
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</collision>
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<visual name='Wall_0_Visual_3'>
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<pose frame=''>0.37346 0 2.575 0 -0 0</pose>
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<geometry>
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<box>
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<size>3 0.15 0.55</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/Bricks</name>
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</script>
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<ambient>0.309804 0.309804 0.309804 1</ambient>
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</material>
|
|
<meta>
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|
<layer>0</layer>
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</meta>
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</visual>
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<collision name='Wall_0_Collision_3'>
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<geometry>
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<box>
|
|
<size>3 0.15 0.55</size>
|
|
</box>
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|
</geometry>
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|
<pose frame=''>0.37346 0 2.575 0 -0 0</pose>
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|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
|
|
<kinematic>0</kinematic>
|
|
</link>
|
|
<link name='Wall_3'>
|
|
<pose frame=''>-3.42303 -4.07547 0 0 -0 -1.57006</pose>
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|
<visual name='Wall_3_Visual_0'>
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<pose frame=''>-1.53914 0 1.425 0 -0 0</pose>
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|
<geometry>
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|
<box>
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|
<size>2.48571 0.15 2.85</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>0.309804 0.309804 0.309804 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
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|
</meta>
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|
</visual>
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|
<collision name='Wall_3_Collision_0'>
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|
<geometry>
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|
<box>
|
|
<size>2.48571 0.15 2.85</size>
|
|
</box>
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|
</geometry>
|
|
<pose frame=''>-1.53914 0 1.425 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='Wall_3_Visual_1'>
|
|
<pose frame=''>1.69286 0 1.425 0 -0 0</pose>
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|
<geometry>
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|
<box>
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|
<size>2.17829 0.15 2.85</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>0.309804 0.309804 0.309804 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
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|
</meta>
|
|
</visual>
|
|
<collision name='Wall_3_Collision_1'>
|
|
<geometry>
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|
<box>
|
|
<size>2.17829 0.15 2.85</size>
|
|
</box>
|
|
</geometry>
|
|
<pose frame=''>1.69286 0 1.425 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='Wall_3_Visual_2'>
|
|
<pose frame=''>0.153711 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.9 0.15 0</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>0.309804 0.309804 0.309804 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
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|
</meta>
|
|
</visual>
|
|
<collision name='Wall_3_Collision_2'>
|
|
<geometry>
|
|
<box>
|
|
<size>0.9 0.15 0</size>
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|
</box>
|
|
</geometry>
|
|
<pose frame=''>0.153711 0 0 0 -0 0</pose>
|
|
<max_contacts>10</max_contacts>
|
|
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<ode/>
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<visual name='Wall_3_Visual_3'>
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<geometry>
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<box>
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<size>0.9 0.15 0.85</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/Bricks</name>
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</script>
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<ambient>0.309804 0.309804 0.309804 1</ambient>
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</material>
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<meta>
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<layer>0</layer>
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<box>
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<size>0.9 0.15 0.85</size>
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</box>
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</geometry>
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<contact>
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</contact>
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<bounce/>
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<friction>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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</link>
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<static>1</static>
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</model>
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<state world_name='default'>
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<sim_time>1814 797000000</sim_time>
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<real_time>81 868785704</real_time>
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<wall_time>1581393596 784187980</wall_time>
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<model name='Untitled'>
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<pose frame=''>1.85235 -0.28035 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='Wall_10'>
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<pose frame=''>1.51919 6.13995 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_4'>
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<pose frame=''>3.6547 -0.28035 0 0 0 -1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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</model>
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<model name='bookshelf'>
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<pose frame=''>3.20033 -4.26028 0.271039 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<velocity>0 0 0 0 -0 0</velocity>
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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='bookshelf_clone'>
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<pose frame=''>3.22029 -3.86837 0.271039 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=''>3.22029 -3.86837 0.271039 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>
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</model>
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<model name='cabinet'>
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<pose frame=''>3.18421 -0.807099 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='cabinet_bottom_plate'>
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<pose frame=''>3.18421 -0.807099 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>
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</model>
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<model name='cafe'>
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<pose frame=''>-0.521969 -2.79591 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=''>-0.521969 -2.79591 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>
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</model>
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<model name='cafe_room'>
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<pose frame=''>0.165031 -6.85753 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='Wall_0'>
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<pose frame=''>0.165069 -8.22378 0 0 -0 0.000649</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_3'>
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<pose frame=''>-3.258 -10.933 0 0 0 -1.57006</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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</model>
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<model name='cafe_table'>
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<pose frame=''>0.547774 -10.5201 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=''>0.547774 -10.5201 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>
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</model>
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<model name='cafe_table_0'>
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<pose frame=''>0.545252 -11.427 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=''>0.545252 -11.427 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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<model name='cinder_block_wide'>
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<pose frame=''>-3.17051 -6.04652 0.189563 -0.001214 -2e-06 0.000331</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>-3.17051 -6.04652 0.189563 -0.001214 -2e-06 0.000331</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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</link>
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</model>
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<model name='coke_can'>
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<pose frame=''>0.166099 -10.4684 0.842189 -1.55032 1.21472 -2.03079</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>0.166099 -10.4684 0.842189 -1.55032 1.21472 -2.03079</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>-0.131002 -0.212888 0.003885 -1.30308 1.32753 -3.09101</acceleration>
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<wrench>-0.051091 -0.083026 0.001515 0 -0 0</wrench>
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</link>
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</model>
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<model name='grey_tote'>
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<pose frame=''>0.719298 -11.0932 0.190358 0 -2.5e-05 0.007927</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>0.719298 -11.0932 0.190358 0 -2.5e-05 0.007927</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>-8.30861 -0.158829 1.75953 -2.78465 -1.18968 -3.03402</acceleration>
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<wrench>-29.396 -0.561939 6.22524 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>
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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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<light name='user_directional_light_1'>
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<pose frame=''>69.4265 -45.3011 1 0 -0 0</pose>
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</light>
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<light name='user_directional_light_2'>
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<pose frame=''>2.85707 -5.47055 1 0 -0 0</pose>
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</light>
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<light name='user_directional_light_3'>
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<pose frame=''>-3.4686 -9.00205 1 0 -0 0</pose>
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</light>
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<light name='user_directional_light_4'>
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<pose frame=''>2.30045 -0.072071 1 0.105722 1.35073 1.67813</pose>
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</light>
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<light name='user_point_light_0'>
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<pose frame=''>-1.19379 -7.98022 1 0 -0 0</pose>
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</light>
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<light name='user_point_light_1'>
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<pose frame=''>0.766851 -12.0385 1 0 -0 0</pose>
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</light>
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<light name='user_point_light_3'>
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<pose frame=''>2.80305 -7.33891 1.86283 -0.49865 0 0</pose>
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</light>
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<light name='user_point_light_4'>
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|
<pose frame=''>0.076075 -5.91752 1 0 -0 0</pose>
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</light>
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</state>
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<model name='cafe_table'>
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|
<static>1</static>
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<link name='link'>
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<collision name='surface'>
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|
<pose frame=''>0 0 0.755 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.913 0.913 0.04</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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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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|
</collision>
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<collision name='column'>
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|
<pose frame=''>0 0 0.37 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.042 0.042 0.74</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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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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|
</collision>
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<collision name='base'>
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|
<pose frame=''>0 0 0.02 0 -0 0</pose>
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<geometry>
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<box>
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|
<size>0.56 0.56 0.04</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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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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|
</collision>
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<visual name='visual'>
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<geometry>
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<mesh>
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<uri>model://cafe_table/meshes/cafe_table.dae</uri>
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|
</mesh>
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</geometry>
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</visual>
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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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</link>
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<pose frame=''>0.547774 -10.5201 0 0 -0 0</pose>
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|
</model>
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|
<model name='cinder_block_wide'>
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|
<link name='link'>
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<inertial>
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|
<pose frame=''>0 0 0.071438 0 -0 0</pose>
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<mass>5</mass>
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<inertia>
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<ixx>0.0681466</ixx>
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<ixy>0</ixy>
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<iyy>0.0681466</iyy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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<izz>0.124808</izz>
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</inertia>
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</inertial>
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<visual name='visual'>
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<geometry>
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<mesh>
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|
<uri>model://cinder_block_wide/meshes/cinder_block_wide.dae</uri>
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|
</mesh>
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</geometry>
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|
</visual>
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|
<collision name='top'>
|
|
<pose frame=''>0 0 0.130175 0 -0 0</pose>
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|
<geometry>
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|
<box>
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|
<size>0.387354 0.387354 0.0254</size>
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|
</box>
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</geometry>
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<contact>
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<ode>
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|
<max_vel>0.1</max_vel>
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|
<min_depth>0.001</min_depth>
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|
</ode>
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|
</contact>
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<friction>
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|
<ode>
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|
<mu>1</mu>
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|
<mu2>1</mu2>
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|
</ode>
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|
<torsional>
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|
<ode/>
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|
</torsional>
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|
</friction>
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|
<bounce/>
|
|
|
|
<max_contacts>10</max_contacts>
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|
</collision>
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|
<collision name='bottom'>
|
|
<pose frame=''>0 0 0.0127 0 -0 0</pose>
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|
<geometry>
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|
<box>
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|
<size>0.387354 0.387354 0.0254</size>
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</box>
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</geometry>
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<contact>
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<ode>
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|
<max_vel>0.1</max_vel>
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|
<min_depth>0.001</min_depth>
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|
</ode>
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|
</contact>
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<friction>
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|
<ode>
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|
<mu>1</mu>
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|
<mu2>1</mu2>
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|
</ode>
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|
<torsional>
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|
<ode/>
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|
</torsional>
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|
</friction>
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|
<bounce/>
|
|
|
|
<max_contacts>10</max_contacts>
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|
</collision>
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|
<collision name='left'>
|
|
<pose frame=''>0 -0.183355 0.071438 0 -0 0</pose>
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|
<geometry>
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|
<box>
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|
<size>0.387354 0.020643 0.092075</size>
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|
</box>
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</geometry>
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|
<contact>
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|
<ode>
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|
<max_vel>0.1</max_vel>
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|
<min_depth>0.001</min_depth>
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|
</ode>
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|
</contact>
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|
<friction>
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|
<ode>
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|
<mu>1</mu>
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|
<mu2>1</mu2>
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|
</ode>
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|
<torsional>
|
|
<ode/>
|
|
</torsional>
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|
</friction>
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|
<bounce/>
|
|
|
|
<max_contacts>10</max_contacts>
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|
</collision>
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|
<collision name='right'>
|
|
<pose frame=''>0 0.183355 0.071438 0 -0 0</pose>
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|
<geometry>
|
|
<box>
|
|
<size>0.387354 0.020643 0.092075</size>
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|
</box>
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|
</geometry>
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|
|
<contact>
|
|
<ode>
|
|
<max_vel>0.1</max_vel>
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|
<min_depth>0.001</min_depth>
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|
</ode>
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|
</contact>
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|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
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|
<mu2>1</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
</friction>
|
|
<bounce/>
|
|
|
|
<max_contacts>10</max_contacts>
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|
</collision>
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|
<collision name='middle'>
|
|
<pose frame=''>0 0 0.071438 0 -0 0</pose>
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|
<geometry>
|
|
<box>
|
|
<size>0.387354 0.0254 0.092075</size>
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|
</box>
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|
</geometry>
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|
<contact>
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|
<ode>
|
|
<max_vel>0.1</max_vel>
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|
<min_depth>0.001</min_depth>
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|
</ode>
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|
</contact>
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|
<friction>
|
|
<ode>
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|
<mu>1</mu>
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|
<mu2>1</mu2>
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|
</ode>
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|
<torsional>
|
|
<ode/>
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|
</torsional>
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|
</friction>
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|
<bounce/>
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|
|
|
<max_contacts>10</max_contacts>
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|
</collision>
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|
<self_collide>0</self_collide>
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|
<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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|
</link>
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|
<pose frame=''>-3.17028 -6.08935 0 0 -0 0</pose>
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|
</model>
|
|
<model name='coke_can'>
|
|
<link name='link'>
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|
<inertial>
|
|
<pose frame=''>-0.01 -0.012 0.15 0 -0 0</pose>
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|
<mass>0.39</mass>
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|
<inertia>
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|
<ixx>0.00058</ixx>
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|
<ixy>0</ixy>
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|
<ixz>0</ixz>
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<iyy>0.00058</iyy>
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|
<iyz>0</iyz>
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|
<izz>0.00019</izz>
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|
</inertia>
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|
</inertial>
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|
<collision name='collision'>
|
|
<pose frame=''>0 0 -0.46 0 -0 0</pose>
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|
<geometry>
|
|
<mesh>
|
|
<uri>model://coke_can/meshes/coke_can.dae</uri>
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|
</mesh>
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|
</geometry>
|
|
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
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|
<mu2>1</mu2>
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|
</ode>
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|
<torsional>
|
|
<ode/>
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|
</torsional>
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|
</friction>
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|
<contact>
|
|
<ode>
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|
<kp>1e+07</kp>
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|
<kd>1</kd>
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|
<min_depth>0.001</min_depth>
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|
<max_vel>0.1</max_vel>
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|
</ode>
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<geometry>
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<pose frame=''>-0.026103 -11.5166 0 0 -0 0</pose>
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</model>
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<pose frame=''>0 0 0.755 0 -0 0</pose>
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<collision name='column'>
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<visual name='visual'>
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<geometry>
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<mesh>
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</model>
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<pose frame=''>0 0 0.14155 0 -0 0</pose>
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<mass>3.53802</mass>
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<ixx>0.0688358</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.139596</iyy>
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<iyz>0</iyz>
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<izz>0.155909</izz>
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</inertia>
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<collision name='lid'>
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<pose frame=''>0 0 0.28958 0 -0 0</pose>
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<geometry>
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</box>
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<collision name='lid_lip_1'>
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<pose frame=''>0 0.20063 0.3048 0 -0 0</pose>
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<geometry>
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<box>
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<collision name='lid_lip_2'>
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<pose frame=''>0 -0.20063 0.3048 0 -0 0</pose>
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<geometry>
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<box>
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<collision name='lid_lip_3'>
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<pose frame=''>-0.32585 0 0.3048 0 -0 0</pose>
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<geometry>
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<box>
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<collision name='side_wall_1'>
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<pose frame=''>0 -0.18 0.14155 0.061147 -0 0</pose>
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<geometry>
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<box>
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<collision name='side_wall_2'>
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<pose frame=''>0 0.18 0.14155 -0.061147 0 0</pose>
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<geometry>
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<box>
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<collision name='side_wall_3'>
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<pose frame=''>0.305 0 0.14155 0 0.061147 0</pose>
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<ode/>
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</collision>
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<collision name='side_wall_4'>
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<pose frame=''>-0.305 0 0.14155 0 -0.061147 0</pose>
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<geometry>
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<box>
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<ode/>
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<collision name='bottom'>
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<pose frame=''>0 0 0.01 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.58404 0.33046 0.02</size>
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<ode/>
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<collision name='corner_1'>
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<pose frame=''>0.30202 -0.175 0.14155 0.061147 0.061147 -0</pose>
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<geometry>
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<collision name='corner_2'>
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<pose frame=''>-0.30202 -0.175 0.14155 0.061147 -0.061147 0</pose>
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<ode/>
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<collision name='corner_3'>
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<pose frame=''>-0.30202 0.175 0.14155 -0.061147 -0.061147 -0</pose>
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<collision name='corner_4'>
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<pose frame=''>0.30202 0.175 0.14155 -0.061147 0.061147 0</pose>
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<geometry>
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<cylinder>
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<visual name='visual'>
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<geometry>
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<mesh>
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<uri>model://grey_tote/meshes/tote.dae</uri>
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</mesh>
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</visual>
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<pose frame=''>-0.91002 -11.4977 0 0 -0 0</pose>
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</model>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose frame=''>-17.97 -0.984933 14.2959 0 0.389796 0.329726</pose>
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<view_controller>orbit</view_controller>
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</camera>
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<light name='user_directional_light_1' type='directional'>
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<pose frame=''>69.4265 -45.3011 1 0 -0 0</pose>
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<direction>0.1 0.1 -0.9</direction>
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<light name='user_point_light_0' type='point'>
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<pose frame=''>-1.19379 -7.98022 1 0 -0 0</pose>
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</attenuation>
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</light>
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<light name='user_point_light_1' type='point'>
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<pose frame=''>0.766851 -12.0385 1 0 -0 0</pose>
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<linear>0.01</linear>
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</light>
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<light name='user_directional_light_2' type='directional'>
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<pose frame=''>2.85707 -5.47055 1 0 -0 0</pose>
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<diffuse>0.5 0.5 0.5 1</diffuse>
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<direction>0.1 0.1 -0.9</direction>
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<range>20</range>
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</attenuation>
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<light name='user_point_light_3' type='point'>
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<pose frame=''>2.80305 -7.84683 1 0 -0 0</pose>
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<diffuse>0.5 0.5 0.5 1</diffuse>
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<range>20</range>
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<constant>0.5</constant>
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<linear>0.01</linear>
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</attenuation>
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<direction>0 0 -1</direction>
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</light>
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<light name='user_directional_light_3' type='directional'>
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<pose frame=''>-3.4686 -9.00205 1 0 -0 0</pose>
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<diffuse>0.5 0.5 0.5 1</diffuse>
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<direction>0.1 0.1 -0.9</direction>
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</attenuation>
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<light name='user_directional_light_4' type='directional'>
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<pose frame=''>2.30045 -0.072071 1 0 -0 0</pose>
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<diffuse>0.5 0.5 0.5 1</diffuse>
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<direction>0.1 0.1 -0.9</direction>
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<range>20</range>
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</attenuation>
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<light name='user_point_light_4' type='point'>
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<pose frame=''>0.076075 -5.91752 1 0 -0 0</pose>
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</attenuation>
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<cast_shadows>0</cast_shadows>
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<direction>0 0 -1</direction>
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</light>
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<model name='bookshelf'>
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|
<static>1</static>
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|
<link name='link'>
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<inertial>
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|
<mass>1</mass>
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</inertial>
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<collision name='back'>
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<pose frame=''>0 0.005 0.6 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.9 0.01 1.2</size>
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</box>
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</box>
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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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<pose frame=''>0.45 -0.195 0.6 0 -0 0</pose>
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<box>
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</box>
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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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<collision name='right_side'>
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<box>
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<pose frame=''>-0.45 -0.195 0.6 0 -0 0</pose>
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</box>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
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</script>
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<pose frame=''>0 -0.195 0.03 0 -0 0</pose>
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<box>
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</box>
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<ode/>
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<bounce/>
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<ode/>
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<ode/>
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<visual name='visual4'>
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<pose frame=''>0 -0.195 0.03 0 -0 0</pose>
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<geometry>
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<box>
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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>
|
|
<name>Gazebo/Wood</name>
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</script>
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</material>
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</visual>
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<collision name='top'>
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<pose frame=''>0 -0.195 1.19 0 -0 0</pose>
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<geometry>
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<box>
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</box>
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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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<visual name='visual5'>
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<pose frame=''>0 -0.195 1.19 0 -0 0</pose>
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<geometry>
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<box>
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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>
|
|
<name>Gazebo/Wood</name>
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</script>
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</material>
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<pose frame=''>0 -0.195 0.43 0 -0 0</pose>
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<box>
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</box>
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<ode/>
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<visual name='visual6'>
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<pose frame=''>0 -0.195 0.43 0 -0 0</pose>
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<geometry>
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<box>
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</box>
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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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</material>
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</visual>
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<collision name='high_shelf'>
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|
<pose frame=''>0 -0.195 0.8 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.02</size>
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</box>
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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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<ode/>
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<ode/>
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</friction>
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<visual name='visual7'>
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<pose frame=''>0 -0.195 0.8 0 -0 0</pose>
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<geometry>
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<box>
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</box>
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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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</material>
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</link>
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<pose frame=''>2.48904 -2.28346 0 0 -0 0</pose>
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</model>
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<model name='bookshelf_clone'>
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|
<static>1</static>
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<link name='link'>
|
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<inertial>
|
|
<mass>1</mass>
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</inertial>
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<collision name='back'>
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<pose frame=''>0 0.005 0.6 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.9 0.01 1.2</size>
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</box>
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</geometry>
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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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<visual name='visual1'>
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<pose frame=''>0 0.005 0.6 0 -0 0</pose>
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<geometry>
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<box>
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</box>
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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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</material>
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</visual>
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<collision name='left_side'>
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<pose frame=''>0.45 -0.195 0.6 0 -0 0</pose>
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<geometry>
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<box>
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</box>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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<visual name='visual2'>
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<pose frame=''>0.45 -0.195 0.6 0 -0 0</pose>
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<geometry>
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<box>
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</box>
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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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</material>
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<collision name='right_side'>
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<pose frame=''>-0.45 -0.195 0.6 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.02 0.4 1.2</size>
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</box>
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<contact>
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<ode/>
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<torsional>
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<ode/>
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<ode/>
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<box>
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</box>
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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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</material>
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<collision name='bottom'>
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<pose frame=''>0 -0.195 0.03 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.88 0.4 0.06</size>
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</box>
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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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<visual name='visual4'>
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<pose frame=''>0 -0.195 0.03 0 -0 0</pose>
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<geometry>
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<box>
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</box>
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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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</material>
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<collision name='top'>
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<pose frame=''>0 -0.195 1.19 0 -0 0</pose>
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<box>
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<ode/>
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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='visual5'>
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<pose frame=''>0 -0.195 1.19 0 -0 0</pose>
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<geometry>
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<box>
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</box>
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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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</material>
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<collision name='low_shelf'>
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<pose frame=''>0 -0.195 0.43 0 -0 0</pose>
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<geometry>
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<box>
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</box>
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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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<ode/>
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</torsional>
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<ode/>
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</friction>
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<visual name='visual6'>
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<pose frame=''>0 -0.195 0.43 0 -0 0</pose>
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<geometry>
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<box>
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</box>
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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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</material>
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</visual>
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<collision name='high_shelf'>
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<pose frame=''>0 -0.195 0.8 0 -0 0</pose>
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<geometry>
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<box>
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</box>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<ode/>
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</torsional>
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<ode/>
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<visual name='visual7'>
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<pose frame=''>0 -0.195 0.8 0 -0 0</pose>
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<geometry>
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<box>
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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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</material>
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</link>
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<pose frame=''>3.22029 -3.86837 0.271039 0 -0 0</pose>
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|
</model>
|
|
<model name='cabinet'>
|
|
<static>1</static>
|
|
<link name='cabinet_bottom_plate'>
|
|
<inertial>
|
|
<pose frame=''>0 0 -1 0 -0 0</pose>
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|
<inertia>
|
|
<ixx>2.05</ixx>
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|
<ixy>0</ixy>
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|
<ixz>0</ixz>
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<iyy>2.05</iyy>
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|
<iyz>0</iyz>
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<izz>2.05</izz>
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|
</inertia>
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|
<mass>25</mass>
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</inertial>
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<collision name='cabinet_bottom_plate_geom'>
|
|
<pose frame=''>0 0 0.01 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.45 0.45 0.02</size>
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<ode/>
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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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</collision>
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<visual name='cabinet_bottom_plate_geom_visual'>
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<pose frame=''>0 0 0.01 0 -0 0</pose>
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<geometry>
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<box>
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</box>
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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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</material>
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<collision name='cabinet_bottom_plate_geom_cabinet_back_plate'>
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|
<pose frame=''>0.235 0 0.51 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.02 0.45 1.02</size>
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</box>
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<ode/>
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<visual name='cabinet_bottom_plate_geom_cabinet_back_plate_visual'>
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<pose frame=''>0.235 0 0.51 0 -0 0</pose>
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<box>
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<size>0.02 0.45 1.02</size>
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</box>
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</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
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<collision name='cabinet_bottom_plate_geom_cabinet_left_plate'>
|
|
<pose frame=''>0 0.235 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.02 1.02</size>
|
|
</box>
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</geometry>
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<max_contacts>10</max_contacts>
|
|
|
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<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='cabinet_bottom_plate_geom_cabinet_left_plate_visual'>
|
|
<pose frame=''>0 0.235 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.02 1.02</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='cabinet_bottom_plate_geom_cabinet_middle_plate'>
|
|
<pose frame=''>0 0 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.45 0.02</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
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<visual name='cabinet_bottom_plate_geom_cabinet_middle_plate_visual'>
|
|
<pose frame=''>0 0 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.45 0.02</size>
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|
</box>
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</geometry>
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<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='cabinet_bottom_plate_geom_cabinet_right_plate'>
|
|
<pose frame=''>0 -0.235 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.02 1.02</size>
|
|
</box>
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|
</geometry>
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|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
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<visual name='cabinet_bottom_plate_geom_cabinet_right_plate_visual'>
|
|
<pose frame=''>0 -0.235 0.51 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.02 1.02</size>
|
|
</box>
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|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<collision name='cabinet_bottom_plate_geom_cabinet_top_plate'>
|
|
<pose frame=''>0 0 1.01 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.45 0.02</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='cabinet_bottom_plate_geom_cabinet_top_plate_visual'>
|
|
<pose frame=''>0 0 1.01 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.45 0.45 0.02</size>
|
|
</box>
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|
</geometry>
|
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<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
</material>
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</visual>
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<self_collide>0</self_collide>
|
|
<enable_wind>0</enable_wind>
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|
<kinematic>0</kinematic>
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|
</link>
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<pose frame=''>3.18421 -0.807099 0 0 -0 0</pose>
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|
</model>
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<model name='Untitled'>
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|
<pose frame=''>1.85235 -0.28035 0 0 -0 0</pose>
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|
<link name='Wall_10'>
|
|
<collision name='Wall_10_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>2.75 0.15 2.5</size>
|
|
</box>
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|
</geometry>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
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|
<max_contacts>10</max_contacts>
|
|
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
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|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
|
|
</collision>
|
|
<visual name='Wall_10_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>2.75 0.15 2.5</size>
|
|
</box>
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|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Bricks</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
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|
<meta>
|
|
<layer>0</layer>
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</meta>
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</visual>
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<pose frame=''>-0.333164 6.4203 0 0 -0 -1.5708</pose>
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<self_collide>0</self_collide>
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|
<enable_wind>0</enable_wind>
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|
<kinematic>0</kinematic>
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|
</link>
|
|
<link name='Wall_4'>
|
|
<collision name='Wall_4_Collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>15.75 0.1 2.5</size>
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|
</box>
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|
</geometry>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
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|
<max_contacts>10</max_contacts>
|
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|
|
<contact>
|
|
<ode/>
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|
</contact>
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|
<bounce/>
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<friction>
|
|
<torsional>
|
|
<ode/>
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|
</torsional>
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<ode/>
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|
</friction>
|
|
|
|
</collision>
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|
<visual name='Wall_4_Visual'>
|
|
<pose frame=''>0 0 1.25 0 -0 0</pose>
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<geometry>
|
|
<box>
|
|
<size>15.75 0.1 2.5</size>
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|
</box>
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|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Wood</name>
|
|
</script>
|
|
<ambient>1 1 1 1</ambient>
|
|
</material>
|
|
<meta>
|
|
<layer>0</layer>
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</meta>
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</visual>
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<pose frame=''>1.80235 -0 0 0 -0 -1.5708</pose>
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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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</link>
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|
<static>1</static>
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|
</model>
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|
</world>
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|
</sdf>
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