forked from xtdrone/XTDrone
1237 lines
36 KiB
XML
1237 lines
36 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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<light name='sun' type='directional'>
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<cast_shadows>1</cast_shadows>
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<pose frame=''>0 0 10 0 -0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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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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<surface>
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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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</surface>
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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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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>1000</real_time_update_rate>
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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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<audio>
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<device>default</device>
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</audio>
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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='indoor6'>
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<pose frame=''>45 0 0 0 -0 0</pose>
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<link name='Wall_0'>
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<collision name='Wall_0_Collision'>
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<geometry>
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<box>
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<size>20.5 0.5 5</size>
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</box>
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</geometry>
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<pose frame=''>0 0 2.5 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</surface>
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</collision>
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<visual name='Wall_0_Visual'>
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<pose frame=''>0 0 2.5 0 -0 0</pose>
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<geometry>
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<box>
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<size>20.5 0.5 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>1 1 1 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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<pose frame=''>-55 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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</link>
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<link name='Wall_1'>
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<collision name='Wall_1_Collision'>
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<geometry>
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<box>
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</geometry>
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<pose frame=''>0 0 2.5 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</surface>
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</collision>
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<visual name='Wall_1_Visual'>
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<pose frame=''>0 0 2.5 0 -0 0</pose>
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<geometry>
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<box>
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<size>110.5 0.5 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>1 1 1 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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<pose frame=''>0 10 0 0 -0 0</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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<link name='Wall_12'>
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<collision name='Wall_12_Collision'>
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<geometry>
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<box>
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<size>4.35044 0.5 5</size>
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</box>
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</geometry>
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<pose frame=''>0 0 2.5 0 -0 0</pose>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</surface>
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</collision>
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<visual name='Wall_12_Visual'>
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<pose frame=''>0 0 2.5 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.35044 0.5 5</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/CeilingTiled</name>
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</script>
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<ambient>1 1 1 1</ambient>
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</material>
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<meta>
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<layer>0</layer>
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</visual>
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<pose frame=''>-11.01 8.1 0 0 -0 0</pose>
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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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</link>
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<link name='Wall_13'>
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<collision name='Wall_13_Collision'>
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<geometry>
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<box>
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</box>
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</geometry>
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<pose frame=''>0 0 2.5 0 -0 0</pose>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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<ode/>
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</friction>
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<visual name='Wall_13_Visual'>
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<pose frame=''>0 0 2.5 0 -0 0</pose>
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<geometry>
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<box>
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<size>3.1 0.5 5</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/CeilingTiled</name>
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</script>
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<ambient>1 1 1 1</ambient>
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</material>
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<meta>
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<layer>0</layer>
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<pose frame=''>-9.085 6.8 0 0 -0 -1.5708</pose>
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</link>
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<link name='Wall_14'>
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<collision name='Wall_14_Collision'>
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<geometry>
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<box>
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<pose frame=''>0 0 2.5 0 -0 0</pose>
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<contact>
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<visual name='Wall_14_Visual'>
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<pose frame=''>0 0 2.5 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>
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<name>Gazebo/CeilingTiled</name>
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<ambient>1 1 1 1</ambient>
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<meta>
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<link name='Wall_15'>
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<box>
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<pose frame=''>0 0 2.5 0 -0 0</pose>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/CeilingTiled</name>
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<ambient>1 1 1 1</ambient>
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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>1 1 1 1</ambient>
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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>1 1 1 1</ambient>
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<meta>
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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>1 1 1 1</ambient>
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<ode/>
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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>1 1 1 1</ambient>
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</material>
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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>1 1 1 1</ambient>
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</material>
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<iterations>24918</iterations>
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|
<model name='ground_plane'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<scale>1 1 1</scale>
|
|
<link name='link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='indoor6'>
|
|
<pose frame=''>45 0 0 0 -0 0</pose>
|
|
<scale>1 1 1</scale>
|
|
<link name='Wall_0'>
|
|
<pose frame=''>-10 0 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_1'>
|
|
<pose frame=''>45 10 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_12'>
|
|
<pose frame=''>33.99 8.1 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_13'>
|
|
<pose frame=''>35.915 6.8 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_14'>
|
|
<pose frame=''>33.99 5.5 0 0 -0 3.14159</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_15'>
|
|
<pose frame=''>32.065 6.8 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_17'>
|
|
<pose frame=''>42 -3 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_19'>
|
|
<pose frame=''>53 0 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_2'>
|
|
<pose frame=''>100 0 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_20'>
|
|
<pose frame=''>55.5 -2 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_21'>
|
|
<pose frame=''>58 0 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_24'>
|
|
<pose frame=''>55.5 2 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_26'>
|
|
<pose frame=''>70 5 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_28'>
|
|
<pose frame=''>80 -5 0 0 0 -1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_3'>
|
|
<pose frame=''>45 -10 0 0 -0 3.14159</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_5'>
|
|
<pose frame=''>10 0 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_7'>
|
|
<pose frame=''>19.188 3.699 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
<link name='Wall_9'>
|
|
<pose frame=''>24.896 -3.662 0 0 -0 1.5708</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<light name='sun'>
|
|
<pose frame=''>0 0 10 0 -0 0</pose>
|
|
</light>
|
|
</state>
|
|
<gui fullscreen='0'>
|
|
<camera name='user_camera'>
|
|
<pose frame=''>21.7357 -102.991 59.0327 0 0.497795 1.40416</pose>
|
|
<view_controller>orbit</view_controller>
|
|
<projection_type>perspective</projection_type>
|
|
</camera>
|
|
</gui>
|
|
</world>
|
|
</sdf>
|