XTDrone/sitl_config/worlds/indoor4.world

13363 lines
446 KiB
XML

<?xml version="1.0" ?>
<sdf version='1.6'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics name='default_physics' default='0' type='ode'>
<max_step_size>0.004</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>250</real_time_update_rate>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<wind/>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<state world_name='default'>
<sim_time>138 154000000</sim_time>
<real_time>79 373321249</real_time>
<wall_time>1582172604 368487821</wall_time>
<iterations>78472</iterations>
<model name='Untitled1111'>
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<scale>1 1 1</scale>
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</ode>
</torsional>
</friction>
<bounce>
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</bounce>
<contact>
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<soft_cfm>0</soft_cfm>
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<kp>1e+13</kp>
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</ode>
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<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
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<pose frame=''>-2.6358 6.01879 0 0 0 -0.523599</pose>
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<visual name='Wall_10_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_10_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.75 0.15 2.5</size>
</box>
</geometry>
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<ode>
<mu>1</mu>
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<fdir1>0 0 0</fdir1>
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<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
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<threshold>1e+06</threshold>
</bounce>
<contact>
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<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
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<kp>1e+13</kp>
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</bullet>
</contact>
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<visual name='Wall_102_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
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</visual>
<collision name='Wall_102_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3 0.15 2.5</size>
</box>
</geometry>
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<ode>
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</ode>
</torsional>
</friction>
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</bounce>
<contact>
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<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
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</ode>
<bullet>
<split_impulse>1</split_impulse>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
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<link name='Wall_103'>
<pose frame=''>15.8274 1.34246 0 0 -0 1.5708</pose>
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<visual name='Wall_103_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_103_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.5 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
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</ode>
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<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
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<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
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<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
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<link name='Wall_104'>
<pose frame=''>15.3292 4.87687 0 0 -0 1.8326</pose>
<self_collide>0</self_collide>
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<kinematic>0</kinematic>
<visual name='Wall_104_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>4 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_104_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>4 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
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</ode>
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<coefficient>1</coefficient>
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<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
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<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
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<link name='Wall_105'>
<pose frame=''>14.831 8.03628 0 0 -0 1.5708</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_105_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_105_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.75 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
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</ode>
<torsional>
<coefficient>1</coefficient>
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<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
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<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
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<link name='Wall_106'>
<pose frame=''>14.9086 9.62606 0 0 -0 1.309</pose>
<self_collide>0</self_collide>
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<kinematic>0</kinematic>
<visual name='Wall_106_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
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<collision name='Wall_106_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.75 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
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<fdir1>0 0 0</fdir1>
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<coefficient>1</coefficient>
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<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
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<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
<split_impulse>1</split_impulse>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
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<link name='Wall_107'>
<pose frame=''>14.774 11.9399 0 0 -0 1.67529</pose>
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<kinematic>0</kinematic>
<visual name='Wall_107_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>4.22037 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
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<collision name='Wall_107_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>4.22037 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
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</ode>
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<coefficient>1</coefficient>
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<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
<split_impulse>1</split_impulse>
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<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_108'>
<pose frame=''>13.059 15.1837 0 0 -0 2.35619</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_108_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>4 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
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<cast_shadows>1</cast_shadows>
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<collision name='Wall_108_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>4 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
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<fdir1>0 0 0</fdir1>
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</ode>
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<coefficient>1</coefficient>
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<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
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<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
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</ode>
<bullet>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_109'>
<pose frame=''>9.25161 15.8373 0 0 0 -2.82454</pose>
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<kinematic>0</kinematic>
<visual name='Wall_109_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
<size>5.59694 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_109_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>5.59694 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
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<fdir1>0 0 0</fdir1>
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</ode>
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<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
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<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
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</box>
</geometry>
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<name>Gazebo/Bricks</name>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<script>
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<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</bullet>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
</geometry>
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<script>
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<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<kp>1e+13</kp>
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</bullet>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<script>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</torsional>
</friction>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<script>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</torsional>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<box>
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<script>
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<ambient>1 1 1 1</ambient>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<script>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<kp>1e+13</kp>
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<script>
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</box>
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<box>
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</box>
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<script>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
<size>6 0.15 2.5</size>
</box>
</geometry>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</torsional>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</torsional>
</friction>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</torsional>
</friction>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<ambient>1 1 1 1</ambient>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</torsional>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</ode>
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</friction>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<script>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</ode>
</torsional>
</friction>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<script>
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<ambient>1 1 1 1</ambient>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
</geometry>
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<kp>1e+13</kp>
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</bullet>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
<size>1.75 0.15 2.5</size>
</box>
</geometry>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
</geometry>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<kp>1e+13</kp>
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</bullet>
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<visual name='Wall_131_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
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</box>
</geometry>
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</ode>
</torsional>
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</bounce>
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<kp>1e+13</kp>
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<bullet>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
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</bullet>
</contact>
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<visual name='Wall_133_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>5.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
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<layer>0</layer>
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<collision name='Wall_133_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>5.25 0.15 2.5</size>
</box>
</geometry>
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<ode>
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</ode>
</torsional>
</friction>
<bounce>
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</bounce>
<contact>
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<kp>1e+13</kp>
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</ode>
<bullet>
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<kp>1e+13</kp>
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</bullet>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<collision name='Wall_134_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</torsional>
</friction>
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<contact>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
</geometry>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</geometry>
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</torsional>
</friction>
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<kp>1e+13</kp>
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<bullet>
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<kp>1e+13</kp>
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<visual name='Wall_136_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<ode>
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</ode>
</torsional>
</friction>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<visual name='Wall_137_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
</geometry>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</ode>
</torsional>
</friction>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<visual name='Wall_138_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<ambient>1 1 1 1</ambient>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</ode>
</torsional>
</friction>
<bounce>
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<contact>
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<kp>1e+13</kp>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
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</box>
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<box>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<script>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
<size>7.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</torsional>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<script>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<kp>1e+13</kp>
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<link name='Wall_15'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
</geometry>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<ambient>1 1 1 1</ambient>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<ambient>1 1 1 1</ambient>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<script>
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<ambient>1 1 1 1</ambient>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</torsional>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<box>
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<script>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</friction>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<ambient>1 1 1 1</ambient>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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</box>
</geometry>
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</ode>
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</ode>
</torsional>
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</bounce>
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<kp>1e+13</kp>
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</ode>
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<kp>1e+13</kp>
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</bullet>
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<visual name='Wall_154_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>8 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
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<collision name='Wall_154_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>8 0.15 2.5</size>
</box>
</geometry>
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</ode>
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</ode>
</torsional>
</friction>
<bounce>
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</bounce>
<contact>
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<kp>1e+13</kp>
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</ode>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
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</bullet>
</contact>
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<visual name='Wall_155_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>7.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
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</visual>
<collision name='Wall_155_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>7.25 0.15 2.5</size>
</box>
</geometry>
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</ode>
</torsional>
</friction>
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</bounce>
<contact>
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<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
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</ode>
<bullet>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
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</bullet>
</contact>
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<link name='Wall_156'>
<pose frame=''>-25.4915 -19.703 0 0 0 -0.785398</pose>
<self_collide>0</self_collide>
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<kinematic>0</kinematic>
<visual name='Wall_156_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>9 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_156_Collision'>
<laser_retro>0</laser_retro>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>9 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
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</ode>
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<coefficient>1</coefficient>
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<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
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<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_157'>
<pose frame=''>-18.5626 -22.8319 0 0 -0 0</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_157_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>7.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_157_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>7.75 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
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<fdir1>0 0 0</fdir1>
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</ode>
<torsional>
<coefficient>1</coefficient>
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<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_158'>
<pose frame=''>-10.3676 -24.0096 0 0 0 -0.261799</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_158_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>9.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_158_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>9.25 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
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<fdir1>0 0 0</fdir1>
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</ode>
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<coefficient>1</coefficient>
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<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
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<collide_bitmask>1</collide_bitmask>
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<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
<split_impulse>1</split_impulse>
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<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_159'>
<pose frame=''>-5.75578 -20.7385 0 0 -0 1.52209</pose>
<self_collide>0</self_collide>
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<kinematic>0</kinematic>
<visual name='Wall_159_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>9.05788 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
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<cast_shadows>1</cast_shadows>
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<collision name='Wall_159_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>9.05788 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
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<fdir1>0 0 0</fdir1>
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<coefficient>1</coefficient>
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<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
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<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
<split_impulse>1</split_impulse>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_16'>
<pose frame=''>0.6202 5.3575 0 0 0 -0.261799</pose>
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<visual name='Wall_16_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_16_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
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<coefficient>1</coefficient>
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<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
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<collide_bitmask>1</collide_bitmask>
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<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
<split_impulse>1</split_impulse>
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<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_161'>
<pose frame=''>-8.34749 24.8776 0 0 -0 0.261799</pose>
<self_collide>0</self_collide>
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<kinematic>0</kinematic>
<visual name='Wall_161_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>14 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
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<collision name='Wall_161_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>14 0.15 2.5</size>
</box>
</geometry>
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<ode>
<mu>1</mu>
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<fdir1>0 0 0</fdir1>
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</ode>
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<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
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<threshold>1e+06</threshold>
</bounce>
<contact>
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<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
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<link name='Wall_162'>
<pose frame=''>4.1854 25.104 0 0 0 -0.261799</pose>
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<visual name='Wall_162_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>12.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
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</visual>
<collision name='Wall_162_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>12.25 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
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<fdir1>0 0 0</fdir1>
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</ode>
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<coefficient>1</coefficient>
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<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
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<ode>
<soft_cfm>0</soft_cfm>
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</box>
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</box>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
</geometry>
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<script>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<box>
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</box>
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<script>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<box>
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<script>
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<script>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_2'>
<pose frame=''>-6.27387 0.870109 0 0 -0 1.33825</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_2_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.45701 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_2_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.45701 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_21'>
<pose frame=''>2.50556 4.7383 0 0 0 -1.63384</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_21_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.84484 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_21_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.84484 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_3'>
<pose frame=''>-5.99948 1.9931 0 0 -0 1.25423</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_3_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.28706 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_3_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.28706 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_30'>
<pose frame=''>-2.46568 1.63142 0 0 0 -2.0319</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_30_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.26072 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_30_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.26072 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_31'>
<pose frame=''>-2.65958 0.834061 0 0 0 -1.08187</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_31_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.829625 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_31_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.829625 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_32'>
<pose frame=''>-2.31378 0.321863 0 0 0 -0.516701</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_32_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.578318 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_32_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.578318 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_33'>
<pose frame=''>-1.85365 0.367748 0 0 -0 0.292428</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_33_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.833247 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_33_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.833247 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_34'>
<pose frame=''>-0.874534 0.21533 0 0 0 -0.367349</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_34_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.54722 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_34_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.54722 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_35'>
<pose frame=''>0.702466 0.01763 0 0 -0 0</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_35_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_35_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<script>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<script>
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<box>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
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</box>
</geometry>
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</ode>
</torsional>
</friction>
<bounce>
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<threshold>1e+06</threshold>
</bounce>
<contact>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
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</ode>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
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<link name='Wall_45'>
<pose frame=''>6.51621 6.40116 0 0 -0 2.61799</pose>
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<visual name='Wall_45_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
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<collision name='Wall_45_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.75 0.15 2.5</size>
</box>
</geometry>
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<ode>
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</ode>
</torsional>
</friction>
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<threshold>1e+06</threshold>
</bounce>
<contact>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
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</ode>
<bullet>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
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</bullet>
</contact>
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<link name='Wall_46'>
<pose frame=''>5.88834 6.76366 0 0 -0 2.61799</pose>
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<visual name='Wall_46_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_46_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1 0.15 2.5</size>
</box>
</geometry>
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</ode>
</torsional>
</friction>
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<threshold>1e+06</threshold>
</bounce>
<contact>
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<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
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</ode>
<bullet>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
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<link name='Wall_47'>
<pose frame=''>5.73241 7.18829 0 0 -0 0.785398</pose>
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<visual name='Wall_47_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_47_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>0.75 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
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</ode>
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<coefficient>1</coefficient>
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<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
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<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
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<link name='Wall_48'>
<pose frame=''>6.24506 7.70094 0 0 -0 0.785398</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_48_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_48_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
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</ode>
<torsional>
<coefficient>1</coefficient>
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<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_49'>
<pose frame=''>5.69862 8.75263 0 0 -0 2.41606</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_49_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.41415 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_49_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.41415 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
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<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_5'>
<pose frame=''>-7.37481 4.55469 0 0 -0 0.852123</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_5_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.66455 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_5_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.66455 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
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</ode>
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<coefficient>1</coefficient>
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<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
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<link name='Wall_50'>
<pose frame=''>3.20605 8.94488 0 0 0 -2.87979</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_50_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_50_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.75 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
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<coefficient>1</coefficient>
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<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
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<link name='Wall_51'>
<pose frame=''>1.17871 9.32323 0 0 -0 1.82556</pose>
<self_collide>0</self_collide>
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<kinematic>0</kinematic>
<visual name='Wall_51_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.70245 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_51_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.70245 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
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</ode>
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<coefficient>1</coefficient>
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<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_52'>
<pose frame=''>-0.25176 11.1535 0 0 -0 2.38443</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_52_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.29205 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_52_Collision'>
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<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.29205 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
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<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
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<contact>
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</bullet>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
</geometry>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</bullet>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<kp>1e+13</kp>
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</bullet>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
<size>3.03755 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
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</box>
</geometry>
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<ode>
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</ode>
</torsional>
</friction>
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</bounce>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
<size>2.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</torsional>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<ambient>1 1 1 1</ambient>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</geometry>
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<script>
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<ambient>1 1 1 1</ambient>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</ode>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<script>
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<ambient>1 1 1 1</ambient>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</friction>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<pose frame=''>8.66154 -2.76517 0 0 0 -1.69399</pose>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
</geometry>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</ode>
</torsional>
</friction>
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</bounce>
<contact>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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</bullet>
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<visual name='Wall_64_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>5.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
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</meta>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
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</box>
</geometry>
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</ode>
</torsional>
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</bounce>
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<kp>1e+13</kp>
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</ode>
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<kp>1e+13</kp>
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</bullet>
</contact>
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<link name='Wall_65'>
<pose frame=''>1.61699 -3.46708 0 0 -0 2.76162</pose>
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<visual name='Wall_65_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.44907 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
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<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_65_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.44907 0.15 2.5</size>
</box>
</geometry>
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<ode>
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</ode>
</torsional>
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</bounce>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
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</ode>
<bullet>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
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</bullet>
</contact>
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<link name='Wall_66'>
<pose frame=''>0.085102 -3.78028 0 0 0 -1.5708</pose>
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<visual name='Wall_66_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_66_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2 0.15 2.5</size>
</box>
</geometry>
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<ode>
<mu>1</mu>
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<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
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</bounce>
<contact>
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<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
<split_impulse>1</split_impulse>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
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</bullet>
</contact>
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<link name='Wall_67'>
<pose frame=''>-0.657989 -5.41933 0 0 0 -2.37612</pose>
<self_collide>0</self_collide>
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<visual name='Wall_67_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.21112 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_67_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.21112 0.15 2.5</size>
</box>
</geometry>
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<ode>
<mu>1</mu>
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</ode>
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<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
<split_impulse>1</split_impulse>
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<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_68'>
<pose frame=''>-3.20108 -6.19456 0 0 -0 3.14159</pose>
<self_collide>0</self_collide>
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<kinematic>0</kinematic>
<visual name='Wall_68_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_68_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.75 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
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<fdir1>0 0 0</fdir1>
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</ode>
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<coefficient>1</coefficient>
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<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
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<threshold>1e+06</threshold>
</bounce>
<contact>
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<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
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<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
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<link name='Wall_69'>
<pose frame=''>-6.6268 -5.82071 0 0 -0 2.95159</pose>
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<kinematic>0</kinematic>
<visual name='Wall_69_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.46102 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_69_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.46102 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
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<fdir1>0 0 0</fdir1>
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</ode>
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<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
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<threshold>1e+06</threshold>
</bounce>
<contact>
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<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
<bullet>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
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</link>
<link name='Wall_7'>
<pose frame=''>-4.69728 7.01029 0 0 -0 0.523599</pose>
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<visual name='Wall_7_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_7_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2 0.15 2.5</size>
</box>
</geometry>
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<ode>
<mu>1</mu>
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</ode>
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<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
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<threshold>1e+06</threshold>
</bounce>
<contact>
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<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
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</ode>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
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<link name='Wall_70'>
<pose frame=''>-8.90245 -4.85811 0 0 -0 2.35619</pose>
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<visual name='Wall_70_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<meta>
<layer>0</layer>
</meta>
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</visual>
<collision name='Wall_70_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
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</box>
</geometry>
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<ode>
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<fdir1>0 0 0</fdir1>
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</ode>
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<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
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<threshold>1e+06</threshold>
</bounce>
<contact>
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<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
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</ode>
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<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
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<link name='Wall_71'>
<pose frame=''>-9.50613 -3.05583 0 0 -0 1.33608</pose>
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<visual name='Wall_71_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
<size>2.13914 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_71_Collision'>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
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</box>
</geometry>
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<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_72'>
<pose frame=''>-9.61129 -0.832823 0 0 -0 1.8326</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_72_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_72_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.75 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_74'>
<pose frame=''>-9.19116 7.99625 0 0 -0 1.0472</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_74_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_74_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>3.5 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_75'>
<pose frame=''>-7.83923 10.1343 0 0 -0 0.881131</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_75_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.51268 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_75_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.51268 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_76'>
<pose frame=''>-8.17845 10.867 0 0 -0 2.87979</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_76_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_76_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.75 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_77'>
<pose frame=''>-9.36171 10.964 0 0 0 -2.87979</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_77_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_77_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_78'>
<pose frame=''>-10.9472 10.854 0 0 -0 3.14159</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_78_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_78_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.5 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_79'>
<pose frame=''>-12.9531 10.0232 0 0 0 -2.35619</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_79_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_79_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.5 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_8'>
<pose frame=''>-3.2212 7.47279 0 0 -0 0</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_8_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.5 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_8_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>1.5 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</collision>
</link>
<link name='Wall_80'>
<pose frame=''>-13.7839 7.89233 0 0 0 -1.5708</pose>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
<visual name='Wall_80_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.75 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
</script>
<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
<meta>
<layer>0</layer>
</meta>
<transparency>0</transparency>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='Wall_80_Collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>2.75 0.15 2.5</size>
</box>
</geometry>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
</geometry>
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<script>
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<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</torsional>
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</bullet>
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<box>
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</box>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<kp>1e+13</kp>
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</bullet>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
</geometry>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
</geometry>
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</torsional>
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<kp>1e+13</kp>
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</bullet>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
<size>5.50281 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
</material>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
</geometry>
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</ode>
</torsional>
</friction>
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</bounce>
<contact>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
<size>2 0.15 2.5</size>
</box>
</geometry>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</torsional>
</friction>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Bricks</name>
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<ambient>1 1 1 1</ambient>
<shader type='pixel'/>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</torsional>
</friction>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<ambient>1 1 1 1</ambient>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
</geometry>
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</torsional>
</friction>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
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<ambient>1 1 1 1</ambient>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</box>
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</torsional>
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<kp>1e+13</kp>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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<script>
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<ambient>1 1 1 1</ambient>
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<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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</ode>
</torsional>
</friction>
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<kp>1e+13</kp>
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<kp>1e+13</kp>
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<visual name='Wall_90_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
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<box>
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