2338 lines
64 KiB
Plaintext
2338 lines
64 KiB
Plaintext
<sdf version='1.4'>
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<world name='default'>
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<light name='sun' type='directional'>
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<pose>0 0 10 0 -0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<model name='ground_plane'>
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<static>1</static>
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<link name='link'>
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<collision name='collision'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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</friction>
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<bounce/>
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<contact>
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<ode/>
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<visual name='visual'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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<physics type='ode'>
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<real_time_update_rate>100</real_time_update_rate>
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<gravity>0 0 -9.8</gravity>
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>1</shadows>
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</scene>
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<spherical_coordinates>
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<elevation>0</elevation>
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<heading_deg>0</heading_deg>
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</spherical_coordinates>
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<model name='asphalt_plane'>
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<static>1</static>
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<link name='link'>
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<collision name='collision'>
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<geometry>
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<box>
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<size>20 20 0.1</size>
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</geometry>
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<box>
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<size>20 20 0.1</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://asphalt_plane/materials/scripts</uri>
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<uri>model://asphalt_plane/materials/textures</uri>
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<name>vrc/asphalt</name>
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</script>
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<pose>0 -0.566523 0 0 -0 0</pose>
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</model>
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<model name='jersey_barrier'>
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<static>1</static>
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<link name='link'>
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<visual name='visual'>
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<geometry>
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<mesh>
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<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
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<collision name='upright'>
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<pose>0 0 0.5715 0 -0 0</pose>
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<geometry>
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<geometry>
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<collision name='base2'>
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<pose>0 0 0.1 0 -0 0</pose>
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<geometry>
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<box>
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<collision name='base3'>
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<pose>0 0 0.2 0 -0 0</pose>
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<geometry>
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<ode/>
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<collision name='left-angle'>
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<pose>0 -0.224 0.2401 0.9 -0 0</pose>
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<geometry>
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<pose>8 -10 0 0 -0 0</pose>
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<model name='jersey_barrier_0'>
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<static>1</static>
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<visual name='visual'>
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<geometry>
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<mesh>
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<ode/>
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<bounce/>
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<ode/>
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<ode/>
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<collision name='base3'>
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<bounce/>
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<ode/>
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<ode/>
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<ode/>
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<ode/>
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</model>
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<model name='jersey_barrier_1'>
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<static>1</static>
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<link name='link'>
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<visual name='visual'>
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<geometry>
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<mesh>
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<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
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<pose>0 0 0.5715 0 -0 0</pose>
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<box>
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<ode/>
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<bounce/>
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<ode/>
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<contact>
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<ode/>
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<box>
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<bounce/>
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<friction>
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<ode/>
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<contact>
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<ode/>
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<collision name='base3'>
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<pose>0 0 0.2 0 -0 0</pose>
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<geometry>
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<bounce/>
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<ode/>
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<contact>
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<ode/>
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<collision name='left-angle'>
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<pose>0 -0.224 0.2401 0.9 -0 0</pose>
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<box>
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<bounce/>
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<ode/>
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<contact>
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<ode/>
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<collision name='right-angle'>
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<pose>0 0.224 0.2401 -0.9 0 0</pose>
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<box>
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<bounce/>
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<ode/>
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<gravity>1</gravity>
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<pose>-7.48184 -10 0 0 -0 0</pose>
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</model>
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<state world_name='default'>
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<sim_time>2157 19000000</sim_time>
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<model name='Construction Barrel'>
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<link name='link'>
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</model>
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<model name='Construction Barrel_0'>
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<link name='link'>
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<wrench>0 0 0 0 -0 0</wrench>
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</model>
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<model name='Construction Barrel_2'>
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<link name='link'>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</model>
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<model name='Construction Barrel_3'>
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<pose>21.733 -3.37039 0.049999 3e-06 -1.03398e-25 0.000214</pose>
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<link name='link'>
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</model>
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<model name='House 2'>
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|
<pose>-5.55865 22.5873 0 0 -0 0</pose>
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|
<link name='link'>
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|
<pose>-5.55865 22.5873 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='House 3'>
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|
<pose>10.5708 21.6062 0 0 -0 0</pose>
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|
<link name='link'>
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|
<pose>10.5708 21.6062 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='House 3_0'>
|
|
<pose>23 21.4174 0 0 -0 0</pose>
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|
<link name='link'>
|
|
<pose>23 21.4174 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='asphalt_plane'>
|
|
<pose>0.030437 -3.13546 0 0 -0 0</pose>
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|
<link name='link'>
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|
<pose>0.030437 -3.13546 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='asphalt_plane_0'>
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|
<pose>0 10 0 0 -0 0</pose>
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|
<link name='link'>
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<pose>0 10 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='asphalt_plane_1'>
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|
<pose>15.4977 10 0 0 -0 0</pose>
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|
<link name='link'>
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|
<pose>15.4977 10 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='asphalt_plane_2'>
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<pose>0.098625 -18.8432 0 0 -0 0</pose>
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|
<link name='link'>
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<pose>0.098625 -18.8432 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='asphalt_plane_3'>
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<pose>15.5136 -18.7124 0 0 -0 0</pose>
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<link name='link'>
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<pose>15.5136 -18.7124 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='asphalt_plane_4'>
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<pose>15.4321 -3.44172 0 0 -0 0</pose>
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|
<link name='link'>
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<pose>15.4321 -3.44172 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='ground_plane'>
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|
<pose>0 0 0 0 -0 0</pose>
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|
<link name='link'>
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|
<pose>0 0 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='jersey_barrier'>
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<pose>21.0984 -28.2425 0 0 -0 0</pose>
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|
<link name='link'>
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<pose>21.0984 -28.2425 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='jersey_barrier_0'>
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<pose>5.90195 -28.2526 0 0 -0 0</pose>
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|
<link name='link'>
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<pose>5.90195 -28.2526 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='jersey_barrier_1'>
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<pose>-7.47394 -28.3953 0 0 -0 0</pose>
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|
<link name='link'>
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<pose>-7.47394 -28.3953 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='jersey_barrier_10'>
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<pose>-10.0111 3.35383 0 0 0 -1.54096</pose>
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|
<link name='link'>
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|
<pose>-10.0111 3.35383 0 0 0 -1.54096</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='jersey_barrier_11'>
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|
<pose>-9.89857 16.4946 0 0 0 -1.55018</pose>
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|
<link name='link'>
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|
<pose>-9.89857 16.4946 0 0 0 -1.55018</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='jersey_barrier_2'>
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|
<pose>-9.62184 -19.7051 0 0 0 -1.57192</pose>
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|
<link name='link'>
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<pose>-9.62184 -19.7051 0 0 0 -1.57192</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='jersey_barrier_3'>
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|
<pose>25.0903 -13.975 0 0 0 -1.55011</pose>
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|
<link name='link'>
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<pose>25.0903 -13.975 0 0 0 -1.55011</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='jersey_barrier_4'>
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<pose>-9.79209 -7.708 0 0 0 -1.56057</pose>
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<link name='link'>
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<pose>-9.79209 -7.708 0 0 0 -1.56057</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='jersey_barrier_5'>
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|
<pose>24.9445 -1.63963 0 0 0 -1.55025</pose>
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|
<link name='link'>
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<pose>24.9445 -1.63963 0 0 0 -1.55025</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='jersey_barrier_8'>
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<pose>25.1873 7.83728 0 0 0 -1.5463</pose>
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<link name='link'>
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<pose>25.1873 7.83728 0 0 0 -1.5463</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='jersey_barrier_9'>
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<pose>25.6023 17.5115 0 0 0 -1.53629</pose>
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<link name='link'>
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<pose>25.6023 17.5115 0 0 0 -1.53629</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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</state>
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<model name='jersey_barrier_2'>
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|
<static>1</static>
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|
<link name='link'>
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|
<visual name='visual'>
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<geometry>
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<mesh>
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<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name='upright'>
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<pose>0 0 0.5715 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.3063 1.143</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<contact>
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<ode/>
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</contact>
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<collision name='base'>
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<pose>0 0 0.032258 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.8107 0.064516</size>
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<contact>
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<ode/>
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<collision name='base2'>
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<pose>0 0 0.1 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.65 0.1</size>
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</box>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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<collision name='base3'>
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<pose>0 0 0.2 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.5 0.1</size>
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</box>
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<surface>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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<collision name='left-angle'>
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<pose>0 -0.224 0.2401 0.9 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.5 0.064516</size>
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</box>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<collision name='right-angle'>
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<pose>0 0.224 0.2401 -0.9 0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.5 0.064516</size>
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</box>
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</geometry>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<pose>-10.4668 -4 0 0 -0 0</pose>
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</model>
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<model name='jersey_barrier_3'>
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|
<static>1</static>
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|
<link name='link'>
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|
<visual name='visual'>
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<geometry>
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<mesh>
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<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name='upright'>
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<pose>0 0 0.5715 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.3063 1.143</size>
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</box>
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</geometry>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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<collision name='base'>
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<pose>0 0 0.032258 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.8107 0.064516</size>
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</box>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<collision name='base2'>
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<pose>0 0 0.1 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.65 0.1</size>
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</box>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<collision name='base3'>
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<pose>0 0 0.2 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.5 0.1</size>
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</box>
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</geometry>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<collision name='left-angle'>
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|
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.5 0.064516</size>
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</box>
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</geometry>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<collision name='right-angle'>
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|
<pose>0 0.224 0.2401 -0.9 0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.5 0.064516</size>
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</box>
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</geometry>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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<pose>10 -4 0 0 -0 0</pose>
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</model>
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|
<model name='jersey_barrier_4'>
|
|
<static>1</static>
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|
<link name='link'>
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|
<visual name='visual'>
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<geometry>
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<mesh>
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<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name='upright'>
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<pose>0 0 0.5715 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.3063 1.143</size>
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</box>
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</geometry>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<collision name='base'>
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<pose>0 0 0.032258 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.8107 0.064516</size>
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</box>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<collision name='base2'>
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|
<pose>0 0 0.1 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.65 0.1</size>
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</box>
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</geometry>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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<contact>
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<ode/>
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<collision name='base3'>
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<pose>0 0 0.2 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.5 0.1</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<collision name='left-angle'>
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<pose>0 -0.224 0.2401 0.9 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.5 0.064516</size>
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</box>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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|
</friction>
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<contact>
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<ode/>
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|
</contact>
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</surface>
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</collision>
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<collision name='right-angle'>
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<pose>0 0.224 0.2401 -0.9 0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.5 0.064516</size>
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</box>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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|
</friction>
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<contact>
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<ode/>
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</contact>
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<velocity_decay>
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<gravity>1</gravity>
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</link>
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<pose>-10 4 0 0 -0 0</pose>
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</model>
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<model name='jersey_barrier_5'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<visual name='visual'>
|
|
<geometry>
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<mesh>
|
|
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name='upright'>
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<pose>0 0 0.5715 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.3063 1.143</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<collision name='base'>
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<pose>0 0 0.032258 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.8107 0.064516</size>
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</box>
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</geometry>
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<surface>
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<bounce/>
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<friction>
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<ode/>
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</friction>
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<contact>
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<ode/>
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</contact>
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</surface>
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</collision>
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<collision name='base2'>
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|
<pose>0 0 0.1 0 -0 0</pose>
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<geometry>
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<box>
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<size>4.06542 0.65 0.1</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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<friction>
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|
<ode/>
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|
</friction>
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<contact>
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<ode/>
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|
</contact>
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</surface>
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</collision>
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|
<collision name='base3'>
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|
<pose>0 0 0.2 0 -0 0</pose>
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<geometry>
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|
<box>
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<size>4.06542 0.5 0.1</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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|
<friction>
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|
<ode/>
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|
</friction>
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<contact>
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<ode/>
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|
</contact>
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</surface>
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</collision>
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|
<collision name='left-angle'>
|
|
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
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|
<geometry>
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|
<box>
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<size>4.06542 0.5 0.064516</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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|
<bounce/>
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|
<friction>
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|
<ode/>
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|
</friction>
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|
<contact>
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|
<ode/>
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|
</contact>
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</surface>
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|
</collision>
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|
<collision name='right-angle'>
|
|
<pose>0 0.224 0.2401 -0.9 0 0</pose>
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|
<geometry>
|
|
<box>
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|
<size>4.06542 0.5 0.064516</size>
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</box>
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</geometry>
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|
<max_contacts>10</max_contacts>
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|
<surface>
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|
<bounce/>
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|
<friction>
|
|
<ode/>
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|
</friction>
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|
<contact>
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|
<ode/>
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|
</contact>
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</surface>
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</collision>
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<velocity_decay>
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<linear>0</linear>
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|
<angular>0</angular>
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|
</velocity_decay>
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<self_collide>0</self_collide>
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|
<kinematic>0</kinematic>
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|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>10 3 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='asphalt_plane_0'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>20 20 0.1</size>
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</box>
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</geometry>
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|
<max_contacts>10</max_contacts>
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<surface>
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|
<bounce/>
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|
<friction>
|
|
<ode/>
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|
</friction>
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<contact>
|
|
<ode/>
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|
</contact>
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</surface>
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</collision>
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<visual name='visual'>
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<cast_shadows>0</cast_shadows>
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<geometry>
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|
<box>
|
|
<size>20 20 0.1</size>
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|
</box>
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|
</geometry>
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|
<material>
|
|
<script>
|
|
<uri>model://asphalt_plane/materials/scripts</uri>
|
|
<uri>model://asphalt_plane/materials/textures</uri>
|
|
<name>vrc/asphalt</name>
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|
</script>
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</material>
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</visual>
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<velocity_decay>
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|
<linear>0</linear>
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|
<angular>0</angular>
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</velocity_decay>
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<self_collide>0</self_collide>
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<gravity>1</gravity>
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|
</link>
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<pose>0 10 0 0 -0 0</pose>
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|
</model>
|
|
<model name='jersey_barrier_8'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
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|
</mesh>
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|
</geometry>
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|
</visual>
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|
<collision name='upright'>
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|
<pose>0 0 0.5715 0 -0 0</pose>
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|
<geometry>
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|
<box>
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|
<size>4.06542 0.3063 1.143</size>
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</box>
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<surface>
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|
<bounce/>
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<friction>
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|
<ode/>
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|
</friction>
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<contact>
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|
<ode/>
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|
</contact>
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</surface>
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</collision>
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|
<collision name='base'>
|
|
<pose>0 0 0.032258 0 -0 0</pose>
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<geometry>
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|
<box>
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<size>4.06542 0.8107 0.064516</size>
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</box>
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<surface>
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|
<bounce/>
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|
<friction>
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|
<ode/>
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|
</friction>
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|
<contact>
|
|
<ode/>
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|
</contact>
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|
</surface>
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|
</collision>
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|
<collision name='base2'>
|
|
<pose>0 0 0.1 0 -0 0</pose>
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|
<geometry>
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|
<box>
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|
<size>4.06542 0.65 0.1</size>
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</box>
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</geometry>
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<surface>
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|
<bounce/>
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|
<friction>
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|
<ode/>
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|
</friction>
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|
<contact>
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|
<ode/>
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|
</contact>
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</surface>
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</collision>
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<collision name='base3'>
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|
<pose>0 0 0.2 0 -0 0</pose>
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<geometry>
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|
<box>
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|
<size>4.06542 0.5 0.1</size>
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</box>
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<surface>
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|
<bounce/>
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|
<friction>
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|
<ode/>
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|
</friction>
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|
<contact>
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|
<ode/>
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|
</contact>
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|
</surface>
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|
</collision>
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<collision name='left-angle'>
|
|
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
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<geometry>
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|
<box>
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|
<size>4.06542 0.5 0.064516</size>
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</box>
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<surface>
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<bounce/>
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<friction>
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|
<ode/>
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|
</friction>
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<contact>
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|
<ode/>
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|
</contact>
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</surface>
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</collision>
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<collision name='right-angle'>
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|
<pose>0 0.224 0.2401 -0.9 0 0</pose>
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<geometry>
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|
<box>
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<size>4.06542 0.5 0.064516</size>
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</box>
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<surface>
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<bounce/>
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<friction>
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|
<ode/>
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|
</friction>
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<contact>
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<ode/>
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|
</contact>
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<velocity_decay>
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<linear>0</linear>
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|
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<gravity>1</gravity>
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</link>
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<pose>10 10 0 0 -0 0</pose>
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|
</model>
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|
<model name='jersey_barrier_9'>
|
|
<static>1</static>
|
|
<link name='link'>
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|
<visual name='visual'>
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|
<geometry>
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<mesh>
|
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<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
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|
</mesh>
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</geometry>
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</visual>
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<collision name='upright'>
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|
<pose>0 0 0.5715 0 -0 0</pose>
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|
<geometry>
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<box>
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<size>4.06542 0.3063 1.143</size>
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</box>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
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|
<friction>
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|
<ode/>
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|
</friction>
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<contact>
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|
<ode/>
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|
</contact>
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</surface>
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</collision>
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|
<collision name='base'>
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|
<pose>0 0 0.032258 0 -0 0</pose>
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<geometry>
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|
<box>
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<size>4.06542 0.8107 0.064516</size>
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</box>
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<surface>
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|
<bounce/>
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|
<friction>
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|
<ode/>
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|
</friction>
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|
<contact>
|
|
<ode/>
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|
</contact>
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</surface>
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|
</collision>
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|
<collision name='base2'>
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|
<pose>0 0 0.1 0 -0 0</pose>
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<geometry>
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|
<box>
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<size>4.06542 0.65 0.1</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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|
<surface>
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|
<bounce/>
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|
<friction>
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|
<ode/>
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|
</friction>
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|
<contact>
|
|
<ode/>
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|
</contact>
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|
</surface>
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|
</collision>
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|
<collision name='base3'>
|
|
<pose>0 0 0.2 0 -0 0</pose>
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|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.1</size>
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|
</box>
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</geometry>
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|
<max_contacts>10</max_contacts>
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|
<surface>
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|
<bounce/>
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|
<friction>
|
|
<ode/>
|
|
</friction>
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|
<contact>
|
|
<ode/>
|
|
</contact>
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|
</surface>
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|
</collision>
|
|
<collision name='left-angle'>
|
|
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
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|
</box>
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|
</geometry>
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|
<max_contacts>10</max_contacts>
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|
<surface>
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|
<bounce/>
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|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
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|
</surface>
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|
</collision>
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|
<collision name='right-angle'>
|
|
<pose>0 0.224 0.2401 -0.9 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
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|
</box>
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|
</geometry>
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|
<max_contacts>10</max_contacts>
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|
<surface>
|
|
<bounce/>
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|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
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|
</surface>
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|
</collision>
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|
<velocity_decay>
|
|
<linear>0</linear>
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|
<angular>0</angular>
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|
</velocity_decay>
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|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
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|
</link>
|
|
<pose>10 17 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='jersey_barrier_10'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
|
|
</mesh>
|
|
</geometry>
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|
</visual>
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|
<collision name='upright'>
|
|
<pose>0 0 0.5715 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.3063 1.143</size>
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|
</box>
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|
</geometry>
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|
<max_contacts>10</max_contacts>
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|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base'>
|
|
<pose>0 0 0.032258 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.8107 0.064516</size>
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|
</box>
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|
</geometry>
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|
<max_contacts>10</max_contacts>
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|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base2'>
|
|
<pose>0 0 0.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.65 0.1</size>
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|
</box>
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|
</geometry>
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|
<max_contacts>10</max_contacts>
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|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='base3'>
|
|
<pose>0 0 0.2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.1</size>
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|
</box>
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|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<collision name='left-angle'>
|
|
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
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|
</box>
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|
</geometry>
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|
<max_contacts>10</max_contacts>
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|
<surface>
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|
<bounce/>
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|
<friction>
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<ode/>
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|
</friction>
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<contact>
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|
<ode/>
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|
</contact>
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</surface>
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</collision>
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<collision name='right-angle'>
|
|
<pose>0 0.224 0.2401 -0.9 0 0</pose>
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<geometry>
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|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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|
<bounce/>
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|
<friction>
|
|
<ode/>
|
|
</friction>
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|
<contact>
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|
<ode/>
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|
</contact>
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</surface>
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</collision>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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|
</velocity_decay>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
|
|
</link>
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<pose>-10 11 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='jersey_barrier_11'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<collision name='upright'>
|
|
<pose>0 0 0.5715 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.3063 1.143</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<bounce/>
|
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<friction>
|
|
<ode/>
|
|
</friction>
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<contact>
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|
<ode/>
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|
</contact>
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</surface>
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</collision>
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<collision name='base'>
|
|
<pose>0 0 0.032258 0 -0 0</pose>
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<geometry>
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|
<box>
|
|
<size>4.06542 0.8107 0.064516</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
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|
<contact>
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|
<ode/>
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|
</contact>
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|
</surface>
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|
</collision>
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|
<collision name='base2'>
|
|
<pose>0 0 0.1 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.65 0.1</size>
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|
</box>
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</geometry>
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<max_contacts>10</max_contacts>
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|
<surface>
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|
<bounce/>
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|
<friction>
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|
<ode/>
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|
</friction>
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|
<contact>
|
|
<ode/>
|
|
</contact>
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|
</surface>
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|
</collision>
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|
<collision name='base3'>
|
|
<pose>0 0 0.2 0 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.1</size>
|
|
</box>
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</geometry>
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<max_contacts>10</max_contacts>
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|
<surface>
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|
<bounce/>
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|
<friction>
|
|
<ode/>
|
|
</friction>
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|
<contact>
|
|
<ode/>
|
|
</contact>
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|
</surface>
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|
</collision>
|
|
<collision name='left-angle'>
|
|
<pose>0 -0.224 0.2401 0.9 -0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
|
|
</box>
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|
</geometry>
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|
<max_contacts>10</max_contacts>
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|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
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|
</surface>
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|
</collision>
|
|
<collision name='right-angle'>
|
|
<pose>0 0.224 0.2401 -0.9 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>4.06542 0.5 0.064516</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>-9 17 0 0 -0 0</pose>
|
|
</model>
|
|
<gui fullscreen='0'>
|
|
<camera name='user_camera'>
|
|
<pose>4.19271 -4.73864 50.7829 0 1.5258 1.58289</pose>
|
|
<view_controller>orbit</view_controller>
|
|
</camera>
|
|
</gui>
|
|
<model name='House 2'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://house_2/meshes/house_2.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://house_2/meshes/house_2.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://house_2/materials/scripts</uri>
|
|
<uri>model://house_2/materials/textures</uri>
|
|
<uri>model://house_1/materials/textures</uri>
|
|
<name>House_2/Diffuse</name>
|
|
</script>
|
|
<shader type='normal_map_object_space'>
|
|
<normal_map>model://house_1/materials/textures/House_1_Normal.png</normal_map>
|
|
</shader>
|
|
</material>
|
|
</visual>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>-6 24 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='House 3'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://house_3/meshes/house_3.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://house_3/meshes/house_3.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://house_3/materials/scripts</uri>
|
|
<uri>model://house_3/materials/textures</uri>
|
|
<uri>model://house_1/materials/textures</uri>
|
|
<name>House_3/Diffuse</name>
|
|
</script>
|
|
<shader type='normal_map_object_space'>
|
|
<normal_map>model://house_1/materials/textures/House_1_Normal.png</normal_map>
|
|
</shader>
|
|
</material>
|
|
</visual>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>6.44611 24 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='Construction Barrel_2'>
|
|
<link name='link'>
|
|
<inertial>
|
|
<pose>0 0 0.4 0 -0 0</pose>
|
|
<mass>500</mass>
|
|
<inertia>
|
|
<ixx>51.2096</ixx>
|
|
<iyy>51.2096</iyy>
|
|
<izz>25</izz>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>-6.45916 5 0 0 -0 0</pose>
|
|
<static>0</static>
|
|
</model>
|
|
<model name='Construction Barrel_3'>
|
|
<link name='link'>
|
|
<inertial>
|
|
<pose>0 0 0.4 0 -0 0</pose>
|
|
<mass>500</mass>
|
|
<inertia>
|
|
<ixx>51.2096</ixx>
|
|
<iyy>51.2096</iyy>
|
|
<izz>25</izz>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>6 5 0 0 -0 0</pose>
|
|
<static>0</static>
|
|
</model>
|
|
<model name='asphalt_plane_1'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>20 20 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<cast_shadows>0</cast_shadows>
|
|
<geometry>
|
|
<box>
|
|
<size>20 20 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://asphalt_plane/materials/scripts</uri>
|
|
<uri>model://asphalt_plane/materials/textures</uri>
|
|
<name>vrc/asphalt</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>15.4977 10 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='asphalt_plane_2'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>20 20 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<cast_shadows>0</cast_shadows>
|
|
<geometry>
|
|
<box>
|
|
<size>20 20 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://asphalt_plane/materials/scripts</uri>
|
|
<uri>model://asphalt_plane/materials/textures</uri>
|
|
<name>vrc/asphalt</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>0 -18 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='asphalt_plane_3'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>20 20 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<cast_shadows>0</cast_shadows>
|
|
<geometry>
|
|
<box>
|
|
<size>20 20 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://asphalt_plane/materials/scripts</uri>
|
|
<uri>model://asphalt_plane/materials/textures</uri>
|
|
<name>vrc/asphalt</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>15.5321 -9.5053 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='asphalt_plane_4'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>20 20 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<cast_shadows>0</cast_shadows>
|
|
<geometry>
|
|
<box>
|
|
<size>20 20 0.1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://asphalt_plane/materials/scripts</uri>
|
|
<uri>model://asphalt_plane/materials/textures</uri>
|
|
<name>vrc/asphalt</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>15.4321 -3.44172 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='House 3_0'>
|
|
<static>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://house_3/meshes/house_3.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://house_3/meshes/house_3.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://house_3/materials/scripts</uri>
|
|
<uri>model://house_3/materials/textures</uri>
|
|
<uri>model://house_1/materials/textures</uri>
|
|
<name>House_3/Diffuse</name>
|
|
</script>
|
|
<shader type='normal_map_object_space'>
|
|
<normal_map>model://house_1/materials/textures/House_1_Normal.png</normal_map>
|
|
</shader>
|
|
</material>
|
|
</visual>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>23 21.4174 0 0 -0 0</pose>
|
|
</model>
|
|
<model name='Construction Barrel'>
|
|
<link name='link'>
|
|
<inertial>
|
|
<pose>0 0 0.4 0 -0 0</pose>
|
|
<mass>500</mass>
|
|
<inertia>
|
|
<ixx>51.2096</ixx>
|
|
<iyy>51.2096</iyy>
|
|
<izz>25</izz>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>-6.53856 -4.53181 0 0 -0 0</pose>
|
|
<static>0</static>
|
|
</model>
|
|
<model name='Construction Barrel_0'>
|
|
<link name='link'>
|
|
<inertial>
|
|
<pose>0 0 0.4 0 -0 0</pose>
|
|
<mass>500</mass>
|
|
<inertia>
|
|
<ixx>51.2096</ixx>
|
|
<iyy>51.2096</iyy>
|
|
<izz>25</izz>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyz>0</iyz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<bounce/>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay>
|
|
<linear>0</linear>
|
|
<angular>0</angular>
|
|
</velocity_decay>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
<pose>21.5955 -5 0 0 -0 0</pose>
|
|
<static>0</static>
|
|
</model>
|
|
</world>
|
|
</sdf>
|