14074 lines
363 KiB
XML
Executable File
14074 lines
363 KiB
XML
Executable File
<?xml version="1.0" ?>
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<sdf version="1.6">
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<world name="default">
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<plugin name="joy" filename="libJoyPlugin.so">
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<sticky_buttons>false</sticky_buttons>
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<dead_zone>0.05</dead_zone>
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<rate>60</rate>
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<accumulation_rate>1000</accumulation_rate>
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</plugin>
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<gui>
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<camera name="user_camera">
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<pose>-49.08 -1.911 6.95 0 0 -0.0159</pose>
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</camera>
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<plugin name="keyboard" filename="libKeyboardGUIPlugin.so">
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</plugin>
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<plugin name="TrafficLights" filename="libTrafficLightsGUIPlugin.so">
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<!-- Q -->
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<key value="113" model="stop_light_post_475" color="red"/>
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<key value="113" model="stop_light_post_482" color="green"/>
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<key value="113" model="stop_light_post_485" color="green"/>
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<key value="113" model="stop_light_post_479" color="red"/>
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<!-- A -->
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<key value="97" model="stop_light_post_475" color="green"/>
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<key value="97" model="stop_light_post_482" color="red"/>
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<key value="97" model="stop_light_post_485" color="red"/>
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<key value="97" model="stop_light_post_479" color="green"/>
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<!-- W -->
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<key value="119" model="stop_light_post_476" color="red"/>
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<key value="119" model="stop_light_post_483" color="green"/>
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<key value="119" model="stop_light_post_480" color="red"/>
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<!-- S -->
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<key value="115" model="stop_light_post_476" color="green"/>
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<key value="115" model="stop_light_post_483" color="red"/>
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<key value="115" model="stop_light_post_480" color="green"/>
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<!-- E -->
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<key value="101" model="stop_light_post_477" color="red"/>
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<key value="101" model="stop_light_post_486" color="green"/>
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<!-- D -->
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<key value="100" model="stop_light_post_477" color="green"/>
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<key value="100" model="stop_light_post_486" color="red"/>
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<key value="100" model="stop_light_post_481" color="green"/>
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<!-- R -->
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<key value="114" model="stop_light_post_478" color="red"/>
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<key value="114" model="stop_light_post_484" color="green"/>
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<key value="114" model="stop_light_post_487" color="green"/>
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<!-- F -->
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<key value="102" model="stop_light_post_478" color="green"/>
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<key value="102" model="stop_light_post_484" color="red"/>
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<key value="102" model="stop_light_post_487" color="red"/>
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</plugin>
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</gui>
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<scene>
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<grid>false</grid>
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<origin_visual>false</origin_visual>
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<ambient>0.592 0.624 0.635 1</ambient>
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<sky>
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<clouds>
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<speed>12</speed>
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</clouds>
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</sky>
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<background>0.35 0.35 0.35 1.0</background>
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</scene>
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<physics name='default_physics' default='0' type='ode'>
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<max_step_size>0.002</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>0</real_time_update_rate>
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</physics>
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<latitude_deg>0</latitude_deg>
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<longitude_deg>0</longitude_deg>
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<elevation>0</elevation>
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<heading_deg>0</heading_deg>
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</spherical_coordinates>
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<!-- A global light source -->
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<light type="directional" name="sun">
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<pose>0 0 1000 0 0 0</pose>
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<cast_shadows>true</cast_shadows>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.5 0.5 0.5 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 -0.4</direction>
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</light>
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<model name="shaderbox">
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<pose>0 0 -5 0 0 0</pose>
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<static>true</static>
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<link name="link">
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<visual name="visual">
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<geometry>
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<box>
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<size>0.1 0.1 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>file://media/materials/scripts/citysim.material</uri>
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<name>CitySim/ShinyGrey</name>
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</script>
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</material>
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<plugin name="bloom" filename="libBloomVisualPlugin.so" />
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<plugin name="lensflare" filename="libLensFlareVisualPlugin.so" />
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</visual>
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</link>
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</model>
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<!-- Environment
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<include>
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<name>city_terrain_1</name>
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<pose>
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0
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0
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5.01
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0
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0
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0
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</pose>
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<uri>/home/ece446/catvehicle_ws/src/citysim/models/city_terrain</uri>
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</include>
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<include>
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<name>ocean_2</name>
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<pose>
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40
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-20
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3.0
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0
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0
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0
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</pose>
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<uri>/home/ece446/catvehicle_ws/src/citysim/models/ocean</uri>
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</include>
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-->
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<road name="road_y_1">
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<width>7.4</width>
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<point>-45 -103.7 5.02</point>
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<point>-45 104.2 5.02</point>
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</road>
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<road name="road_y_2">
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<width>7.4</width>
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<point>-15 -103.7 5.02</point>
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<point>-15 104.2 5.02</point>
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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/Residential</name>
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</script>
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</material>
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</road>
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<road name="road_y_3">
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<width>7.4</width>
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<point>45 -103.7 5.02</point>
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<point>45 104.2 5.02</point>
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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/Residential</name>
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</script>
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</material>
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</road>
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<road name="road_y_4">
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<width>7.4</width>
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<point>110 -103.7 5.02</point>
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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/Residential</name>
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</script>
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</material>
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</road>
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<road name="road_y_5">
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<width>7.4</width>
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<point>120 -103.7 5.02</point>
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<point>120 104.2 5.02</point>
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</road>
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<road name="road_x_1">
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<width>8.4</width>
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<point>-41.3 -100 5.0249999999999995</point>
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<point>116.3 -100 5.0249999999999995</point>
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</road>
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<road name="road_x_2">
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<width>8.4</width>
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<point>-41.3 -45 5.0249999999999995</point>
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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/Residential</name>
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</road>
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<road name="road_x_3">
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<width>8.4</width>
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</road>
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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/Residential</name>
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<!-- Sidewalks -->
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<!-- East -->
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<static>true</static>
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<!-- West -->
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<point>124.2 103.7</point>
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<point>123.72447174185243 103.35450849718748</point>
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<point>123.7 103.2</point>
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</polyline>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<polyline>
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<height>0.15</height>
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<point>124.2 103.7</point>
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<point>123.7 103.2</point>
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<material>
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<ambient>0.2 0.2 0.2 1.0</ambient>
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</material>
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</visual>
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</link>
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|
</model>
|
|
|
|
|
|
<!-- South sidewalk
|
|
Commented out because it leaks beyond the heightmap and intersects bridges
|
|
<model name="sidewalk_70">
|
|
<static>true</static>
|
|
<pose>0 0 5.01 0 0 0</pose>
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|
<link name="link">
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<collision name="collision">
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<geometry>
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<polyline>
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<height>0.15</height>
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<point>-51.7 -106.2</point>
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<point>-51.67552825814758 -106.35450849718748</point>
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<point>-51.604508497187474 -106.49389262614623</point>
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<point>-51.49389262614624 -106.60450849718748</point>
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<point>-51.354508497187474 -106.67552825814758</point>
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<point>-51.2 -106.7</point>
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<point>-49.2 -106.7</point>
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<point>-49.04549150281253 -106.67552825814758</point>
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<point>-48.906107373853764 -106.60450849718748</point>
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<point>-48.79549150281253 -106.49389262614623</point>
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<point>-48.724471741852426 -106.35450849718748</point>
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<point>-48.7 -106.2</point>
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<point>-48.7 106.2</point>
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<point>-48.724471741852426 106.35450849718748</point>
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<point>-48.79549150281253 106.49389262614623</point>
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<point>-48.906107373853764 106.60450849718748</point>
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<point>-49.04549150281253 106.67552825814758</point>
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<point>-49.2 106.7</point>
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<point>-51.2 106.7</point>
|
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<point>-51.354508497187474 106.67552825814758</point>
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<point>-51.49389262614624 106.60450849718748</point>
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<point>-51.604508497187474 106.49389262614623</point>
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|
<point>-51.67552825814758 106.35450849718748</point>
|
|
<point>-51.7 106.2</point>
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|
</polyline>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
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<polyline>
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|
<height>0.15</height>
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<point>-51.7 -106.2</point>
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<point>-48.7 -106.2</point>
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<point>-48.7 106.2</point>
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|
<point>-48.724471741852426 106.35450849718748</point>
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<point>-48.79549150281253 106.49389262614623</point>
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<point>-48.906107373853764 106.60450849718748</point>
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|
<point>-49.04549150281253 106.67552825814758</point>
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|
<point>-49.2 106.7</point>
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|
<point>-51.2 106.7</point>
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|
<point>-51.354508497187474 106.67552825814758</point>
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|
<point>-51.49389262614624 106.60450849718748</point>
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<point>-51.604508497187474 106.49389262614623</point>
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<point>-51.67552825814758 106.35450849718748</point>
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<point>-51.7 106.2</point>
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</polyline>
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</geometry>
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<material>
|
|
<ambient>0.2 0.2 0.2 1.0</ambient>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
|
|
-->
|
|
|
|
<!-- East sidewalk -->
|
|
<model name="sidewalk_71">
|
|
<static>true</static>
|
|
<pose>0 0 5.01 0 0 0</pose>
|
|
<link name="link">
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|
<collision name="collision">
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|
<geometry>
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|
<polyline>
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|
<height>0.15</height>
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<point>-48.7 -106.2</point>
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|
<point>-48.67552825814758 -106.35450849718748</point>
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<point>-48.604508497187474 -106.49389262614623</point>
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|
<point>-48.49389262614624 -106.60450849718748</point>
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<point>-48.354508497187474 -106.67552825814758</point>
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<point>-48.2 -106.7</point>
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|
<point>126.2 -106.7</point>
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<point>126.35450849718748 -106.67552825814758</point>
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|
<point>126.49389262614623 -106.60450849718748</point>
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<point>126.67552825814758 -106.35450849718748</point>
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|
<point>126.7 -106.2</point>
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|
<point>126.7 -104.2</point>
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|
<point>126.67552825814758 -104.04549150281252</point>
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|
<point>126.60450849718748 -103.90610737385377</point>
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|
<point>126.49389262614623 -103.79549150281252</point>
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|
<point>126.35450849718748 -103.72447174185243</point>
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<point>126.2 -103.7</point>
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|
<point>-48.2 -103.7</point>
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|
<point>-48.354508497187474 -103.72447174185243</point>
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|
<point>-48.49389262614624 -103.79549150281252</point>
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|
<point>-48.604508497187474 -103.90610737385377</point>
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|
<point>-48.67552825814758 -104.04549150281252</point>
|
|
<point>-48.7 -104.2</point>
|
|
</polyline>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<polyline>
|
|
<height>0.15</height>
|
|
<point>-48.7 -106.2</point>
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<point>-48.67552825814758 -106.35450849718748</point>
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<point>126.2 -106.7</point>
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<point>126.7 -106.2</point>
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<point>126.7 -104.2</point>
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<point>126.67552825814758 -104.04549150281252</point>
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<point>126.60450849718748 -103.90610737385377</point>
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<point>126.49389262614623 -103.79549150281252</point>
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<point>126.35450849718748 -103.72447174185243</point>
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<point>126.2 -103.7</point>
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<point>-48.2 -103.7</point>
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<point>-48.354508497187474 -103.72447174185243</point>
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<point>-48.49389262614624 -103.79549150281252</point>
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<point>-48.604508497187474 -103.90610737385377</point>
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<point>-48.67552825814758 -104.04549150281252</point>
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<point>-48.7 -104.2</point>
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</polyline>
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</geometry>
|
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<material>
|
|
<ambient>0.2 0.2 0.2 1.0</ambient>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
|
|
|
|
<!-- West sidewalk
|
|
Commented out because it leaks beyond the heightmap
|
|
<model name="sidewalk_72">
|
|
<static>true</static>
|
|
<pose>0 0 5.01 0 0 0</pose>
|
|
<link name="link">
|
|
<collision name="collision">
|
|
<geometry>
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<polyline>
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<height>0.15</height>
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<point>-51.7 104.2</point>
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<point>-51.67552825814758 104.04549150281252</point>
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<point>-51.604508497187474 103.90610737385377</point>
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<point>-51.49389262614624 103.79549150281252</point>
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<point>-51.354508497187474 103.72447174185243</point>
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<point>-51.2 103.7</point>
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<point>126.2 103.7</point>
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<point>126.35450849718748 103.72447174185243</point>
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<point>126.49389262614623 103.79549150281252</point>
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<point>126.60450849718748 103.90610737385377</point>
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<point>126.67552825814758 104.04549150281252</point>
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|
<point>126.7 104.2</point>
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<point>126.7 106.2</point>
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<point>126.67552825814758 106.35450849718748</point>
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|
<point>126.60450849718748 106.49389262614623</point>
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<point>126.49389262614623 106.60450849718748</point>
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<point>126.35450849718748 106.67552825814758</point>
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|
<point>126.2 106.7</point>
|
|
<point>-51.2 106.7</point>
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|
<point>-51.354508497187474 106.67552825814758</point>
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<point>-51.49389262614624 106.60450849718748</point>
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|
<point>-51.604508497187474 106.49389262614623</point>
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|
<point>-51.67552825814758 106.35450849718748</point>
|
|
<point>-51.7 106.2</point>
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|
</polyline>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
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|
<geometry>
|
|
<polyline>
|
|
<height>0.15</height>
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<point>-51.7 104.2</point>
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<point>-51.67552825814758 104.04549150281252</point>
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<point>-51.604508497187474 103.90610737385377</point>
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<point>-51.2 103.7</point>
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<point>126.2 103.7</point>
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<point>126.35450849718748 103.72447174185243</point>
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<point>126.60450849718748 103.90610737385377</point>
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<point>126.67552825814758 104.04549150281252</point>
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<point>126.7 104.2</point>
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<point>126.7 106.2</point>
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<point>126.67552825814758 106.35450849718748</point>
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<point>126.60450849718748 106.49389262614623</point>
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<point>126.49389262614623 106.60450849718748</point>
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|
<point>126.35450849718748 106.67552825814758</point>
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|
<point>126.2 106.7</point>
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<point>-51.2 106.7</point>
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<point>-51.354508497187474 106.67552825814758</point>
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<point>-51.49389262614624 106.60450849718748</point>
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<point>-51.604508497187474 106.49389262614623</point>
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|
<point>-51.67552825814758 106.35450849718748</point>
|
|
<point>-51.7 106.2</point>
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</polyline>
|
|
</geometry>
|
|
<material>
|
|
<ambient>0.2 0.2 0.2 1.0</ambient>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
|
|
-->
|
|
|
|
<!-- Buildings -->
|
|
|
|
<!-- North block -->
|
|
|
|
<include>
|
|
<name>parking_garage_73</name>
|
|
<pose>
|
|
146.778
|
|
57.67
|
|
5.01
|
|
0
|
|
0
|
|
-1.57
|
|
</pose>
|
|
<uri>model://parking_garage</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>fountain_74</name>
|
|
<pose>
|
|
153.17
|
|
-32.42
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://fountain</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>gazebo_75</name>
|
|
<pose>
|
|
135.5
|
|
0
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://gazebo</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>person_standing_76</name>
|
|
<pose>
|
|
133.73
|
|
-1.79
|
|
5.31
|
|
0
|
|
0
|
|
-0.94
|
|
</pose>
|
|
<uri>model://person_standing</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pier_77</name>
|
|
<pose>
|
|
199.63
|
|
-17.32
|
|
-2.59
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://pier</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_78</name>
|
|
<pose>
|
|
129
|
|
-16.3
|
|
5.01
|
|
0
|
|
0
|
|
1.6234431712061277
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_79</name>
|
|
<pose>
|
|
149.3
|
|
-15.6
|
|
5.01
|
|
0
|
|
0
|
|
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|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_80</name>
|
|
<pose>
|
|
128.11
|
|
-7.09
|
|
5.01
|
|
0
|
|
0
|
|
0.2370479318878233
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_81</name>
|
|
<pose>
|
|
128.5
|
|
9.7
|
|
5.01
|
|
0
|
|
0
|
|
0.3498558632324766
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_82</name>
|
|
<pose>
|
|
152
|
|
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|
|
5.01
|
|
0
|
|
0
|
|
0.04264783984555141
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_83</name>
|
|
<pose>
|
|
139.5
|
|
5.01
|
|
5.01
|
|
0
|
|
0
|
|
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|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_84</name>
|
|
<pose>
|
|
133.59
|
|
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|
|
5.01
|
|
0
|
|
0
|
|
0.2565193928530721
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_85</name>
|
|
<pose>
|
|
130.211
|
|
-49.55
|
|
5.01
|
|
0
|
|
0
|
|
0.2478716814957579
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_86</name>
|
|
<pose>
|
|
142.37
|
|
-60.3
|
|
5.01
|
|
0
|
|
0
|
|
2.306400360780377
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_87</name>
|
|
<pose>
|
|
152.151
|
|
-43.59
|
|
5.01
|
|
0
|
|
0
|
|
2.219632002442231
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_88</name>
|
|
<pose>
|
|
173.19
|
|
-34.8
|
|
5.01
|
|
0
|
|
0
|
|
0.8882678471956627
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_89</name>
|
|
<pose>
|
|
177.91
|
|
-7.7
|
|
5.01
|
|
0
|
|
0
|
|
0.4651583527664631
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>robocup_3Dsim_field_90</name>
|
|
<pose>
|
|
138.5
|
|
-86.6
|
|
5.06
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://robocup_3Dsim_field</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>bus_91</name>
|
|
<pose>
|
|
133.9
|
|
-67.16
|
|
5.01
|
|
0
|
|
0
|
|
-1.67
|
|
</pose>
|
|
<uri>model://bus</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>bus_92</name>
|
|
<pose>
|
|
133.9
|
|
-63.14
|
|
5.01
|
|
0
|
|
0
|
|
-1.67
|
|
</pose>
|
|
<uri>model://bus</uri>
|
|
</include>
|
|
|
|
|
|
<!-- North road -->
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_93</name>
|
|
<pose>
|
|
115.0
|
|
-92.0
|
|
5.01
|
|
0
|
|
0
|
|
1.1663715311148812
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_94</name>
|
|
<pose>
|
|
115.0
|
|
-83.75
|
|
5.01
|
|
0
|
|
0
|
|
0.4340189495499141
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_95</name>
|
|
<pose>
|
|
115.0
|
|
-75.5
|
|
5.01
|
|
0
|
|
0
|
|
0.07869526293972536
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_96</name>
|
|
<pose>
|
|
115.0
|
|
-67.25
|
|
5.01
|
|
0
|
|
0
|
|
1.1645582674772808
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_97</name>
|
|
<pose>
|
|
115.0
|
|
-59.0
|
|
5.01
|
|
0
|
|
0
|
|
1.3171176176356543
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_98</name>
|
|
<pose>
|
|
115.0
|
|
-37.0
|
|
5.01
|
|
0
|
|
0
|
|
1.4901095511567786
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_99</name>
|
|
<pose>
|
|
115.0
|
|
-30.25
|
|
5.01
|
|
0
|
|
0
|
|
0.4343095041783844
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_100</name>
|
|
<pose>
|
|
115.0
|
|
-23.5
|
|
5.01
|
|
0
|
|
0
|
|
2.495815102575992
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_101</name>
|
|
<pose>
|
|
115.0
|
|
-16.75
|
|
5.01
|
|
0
|
|
0
|
|
1.8894377786674768
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_102</name>
|
|
<pose>
|
|
115.0
|
|
-10.0
|
|
5.01
|
|
0
|
|
0
|
|
1.4614147011845933
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_103</name>
|
|
<pose>
|
|
115.0
|
|
8.0
|
|
5.01
|
|
0
|
|
0
|
|
0.9077190830040192
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_104</name>
|
|
<pose>
|
|
115.0
|
|
14.75
|
|
5.01
|
|
0
|
|
0
|
|
2.5256377546822804
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_105</name>
|
|
<pose>
|
|
115.0
|
|
21.5
|
|
5.01
|
|
0
|
|
0
|
|
1.5049239057324382
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_106</name>
|
|
<pose>
|
|
115.0
|
|
28.25
|
|
5.01
|
|
0
|
|
0
|
|
0.15147573464208078
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_107</name>
|
|
<pose>
|
|
115.0
|
|
35.0
|
|
5.01
|
|
0
|
|
0
|
|
0.8950406769144229
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_108</name>
|
|
<pose>
|
|
115.0
|
|
53.0
|
|
5.01
|
|
0
|
|
0
|
|
2.2994534189585467
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_109</name>
|
|
<pose>
|
|
115.0
|
|
61.25
|
|
5.01
|
|
0
|
|
0
|
|
0.5383834669194769
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_110</name>
|
|
<pose>
|
|
115.0
|
|
69.5
|
|
5.01
|
|
0
|
|
0
|
|
0.04086503736271934
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_111</name>
|
|
<pose>
|
|
115.0
|
|
77.75
|
|
5.01
|
|
0
|
|
0
|
|
0.44832481149539066
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_112</name>
|
|
<pose>
|
|
115.0
|
|
86.0
|
|
5.01
|
|
0
|
|
0
|
|
1.0636190424472556
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
|
|
|
|
<!-- Block 0 0 -->
|
|
|
|
<include>
|
|
<name>fire_station_113</name>
|
|
<pose>
|
|
63.8
|
|
76.18
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://fire_station</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>fire_truck_114</name>
|
|
<pose>
|
|
64.139
|
|
85.04
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://fire_truck</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>fire_truck_115</name>
|
|
<pose>
|
|
65.098
|
|
90.435
|
|
5.01
|
|
0
|
|
0
|
|
1.34
|
|
</pose>
|
|
<uri>model://fire_truck</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>house_1_116</name>
|
|
<pose>
|
|
88.76
|
|
81.72
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://house_1</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>house_2_117</name>
|
|
<pose>
|
|
71.455
|
|
61.92
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://house_2</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>house_3_118</name>
|
|
<pose>
|
|
92.89
|
|
60.76
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://house_3</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_119</name>
|
|
<pose>
|
|
68.27
|
|
54.225
|
|
5.01
|
|
0
|
|
0
|
|
3.08
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_120</name>
|
|
<pose>
|
|
81.411
|
|
54.559
|
|
5.01
|
|
0
|
|
0
|
|
1.17
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_121</name>
|
|
<pose>
|
|
99.055
|
|
66.83
|
|
5.01
|
|
0
|
|
0
|
|
2.2
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_122</name>
|
|
<pose>
|
|
97.22
|
|
52.5
|
|
5.01
|
|
0
|
|
0
|
|
1.730295289887727
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_123</name>
|
|
<pose>
|
|
98.95
|
|
53.2
|
|
5.01
|
|
0
|
|
0
|
|
1.6968734917768173
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_124</name>
|
|
<pose>
|
|
101.11
|
|
52.63
|
|
5.01
|
|
0
|
|
0
|
|
0.9431040488804249
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_125</name>
|
|
<pose>
|
|
100.74
|
|
54.2
|
|
5.01
|
|
0
|
|
0
|
|
1.3045257101628134
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_126</name>
|
|
<pose>
|
|
100.53
|
|
55.85
|
|
5.01
|
|
0
|
|
0
|
|
1.9248151376297813
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_127</name>
|
|
<pose>
|
|
99.226
|
|
55.0
|
|
5.01
|
|
0
|
|
0
|
|
1.1006448115596976
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>fire_hydrant_128</name>
|
|
<pose>
|
|
103.2
|
|
49
|
|
5.16
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://fire_hydrant</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>postbox_129</name>
|
|
<pose>
|
|
80
|
|
49.34
|
|
5.16
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://postbox</uri>
|
|
</include>
|
|
|
|
|
|
<!-- Block 0 1 -->
|
|
|
|
<include>
|
|
<name>house_1_130</name>
|
|
<pose>
|
|
61.74
|
|
22.76
|
|
5.01
|
|
0
|
|
0
|
|
-1.57
|
|
</pose>
|
|
<uri>model://house_1</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>house_1_131</name>
|
|
<pose>
|
|
86.62
|
|
27.93
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://house_1</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>house_3_132</name>
|
|
<pose>
|
|
96.43
|
|
14.14
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://house_3</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_133</name>
|
|
<pose>
|
|
57.97
|
|
10.72
|
|
5.01
|
|
0
|
|
0
|
|
3.06
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_134</name>
|
|
<pose>
|
|
53.56
|
|
34.08
|
|
5.01
|
|
0
|
|
0
|
|
1.16
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>house_2_135</name>
|
|
<pose>
|
|
76.71
|
|
13.4
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://house_2</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>ambulance_136</name>
|
|
<pose>
|
|
63.99
|
|
7.06
|
|
5.01
|
|
0
|
|
0
|
|
-2.14
|
|
</pose>
|
|
<uri>model://ambulance</uri>
|
|
</include>
|
|
|
|
|
|
<!-- Block 0 2 -->
|
|
|
|
<model name="gas_station_137">
|
|
<static>true</static>
|
|
<pose>
|
|
61.88
|
|
-30.82
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<link name="link">
|
|
<collision name="collision">
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://gas_station/meshes/gas_station.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://gas_station/meshes/gas_station.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://gas_station/materials/scripts</uri>
|
|
<uri>model://gas_station/materials/textures</uri>
|
|
<name>GasStation/Diffuse</name>
|
|
</script>
|
|
<ambient>
|
|
1
|
|
1
|
|
1
|
|
1
|
|
</ambient>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
|
|
<model name="asphalt_plane_138">
|
|
<static>true</static>
|
|
<pose>
|
|
61.581
|
|
-16.664
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<link name="link">
|
|
<collision name="collision">
|
|
<geometry>
|
|
<box>
|
|
<size> 20
|
|
20
|
|
0.1
|
|
</size> </box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<box>
|
|
<size> 20
|
|
20
|
|
0.05
|
|
</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>
|
|
</link>
|
|
</model>
|
|
|
|
<include>
|
|
<name>suv_139</name>
|
|
<pose>
|
|
61.9
|
|
-12.36
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://suv</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>apartment_140</name>
|
|
<pose>
|
|
87.36
|
|
-21.48
|
|
5.01
|
|
0
|
|
0
|
|
-1.57
|
|
</pose>
|
|
<uri>model://apartment</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_141</name>
|
|
<pose>
|
|
74.95
|
|
-8.29
|
|
5.01
|
|
0
|
|
0
|
|
0.4428057002754041
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_142</name>
|
|
<pose>
|
|
79.06
|
|
-35.8
|
|
5.01
|
|
0
|
|
0
|
|
1.5736359982294998
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_143</name>
|
|
<pose>
|
|
100.33
|
|
-33.7
|
|
5.01
|
|
0
|
|
0
|
|
0.6913121441842207
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_144</name>
|
|
<pose>
|
|
100.15
|
|
-8.67
|
|
5.01
|
|
0
|
|
0
|
|
1.3934177762224809
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>fire_hydrant_145</name>
|
|
<pose>
|
|
103.0
|
|
-4.386
|
|
5.16
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://fire_hydrant</uri>
|
|
</include>
|
|
|
|
|
|
<!-- Block 0 3 -->
|
|
|
|
<include>
|
|
<name>fast_food_146</name>
|
|
<pose>
|
|
96.084
|
|
-69.65
|
|
5.01
|
|
0
|
|
0
|
|
-1.57
|
|
</pose>
|
|
<uri>model://fast_food</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>dumpster_147</name>
|
|
<pose>
|
|
96.55
|
|
-57.43
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://dumpster</uri>
|
|
</include>
|
|
|
|
<model name="asphalt_plane_148">
|
|
<static>true</static>
|
|
<pose>
|
|
88.62
|
|
-72.49
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<link name="link">
|
|
<collision name="collision">
|
|
<geometry>
|
|
<box>
|
|
<size> 29.378
|
|
35.24
|
|
0.1
|
|
</size> </box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<box>
|
|
<size> 29.378
|
|
35.24
|
|
0.05
|
|
</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>
|
|
</link>
|
|
</model>
|
|
|
|
<model name="asphalt_plane_149">
|
|
<static>true</static>
|
|
<pose>
|
|
90.0
|
|
-52.48
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<link name="link">
|
|
<collision name="collision">
|
|
<geometry>
|
|
<box>
|
|
<size> 10.15
|
|
6.61
|
|
0.1
|
|
</size> </box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<box>
|
|
<size> 10.15
|
|
6.61
|
|
0.05
|
|
</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>
|
|
</link>
|
|
</model>
|
|
|
|
<include>
|
|
<name>suv_150</name>
|
|
<pose>
|
|
86.87
|
|
-60.0
|
|
5.01
|
|
0
|
|
0
|
|
1.5707963267948966
|
|
</pose>
|
|
<uri>model://suv</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>hatchback_151</name>
|
|
<pose>
|
|
84.24
|
|
-60.0
|
|
5.01
|
|
0
|
|
0
|
|
1.5707963267948966
|
|
</pose>
|
|
<uri>model://hatchback</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>fire_hydrant_152</name>
|
|
<pose>
|
|
105.6
|
|
-92.78
|
|
5.16
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://fire_hydrant</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_153</name>
|
|
<pose>
|
|
102.0
|
|
-88.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_154</name>
|
|
<pose>
|
|
102.0
|
|
-85.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_155</name>
|
|
<pose>
|
|
102.0
|
|
-83.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_156</name>
|
|
<pose>
|
|
99.5
|
|
-88.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_157</name>
|
|
<pose>
|
|
99.5
|
|
-85.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_158</name>
|
|
<pose>
|
|
99.5
|
|
-83.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_159</name>
|
|
<pose>
|
|
97.0
|
|
-88.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_160</name>
|
|
<pose>
|
|
97.0
|
|
-85.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_161</name>
|
|
<pose>
|
|
97.0
|
|
-83.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_162</name>
|
|
<pose>
|
|
94.5
|
|
-88.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_163</name>
|
|
<pose>
|
|
94.5
|
|
-85.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_164</name>
|
|
<pose>
|
|
94.5
|
|
-83.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_165</name>
|
|
<pose>
|
|
92.0
|
|
-88.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_166</name>
|
|
<pose>
|
|
92.0
|
|
-85.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_167</name>
|
|
<pose>
|
|
92.0
|
|
-83.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_168</name>
|
|
<pose>
|
|
89.5
|
|
-88.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_169</name>
|
|
<pose>
|
|
89.5
|
|
-85.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_170</name>
|
|
<pose>
|
|
89.5
|
|
-83.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_171</name>
|
|
<pose>
|
|
87.0
|
|
-88.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_172</name>
|
|
<pose>
|
|
87.0
|
|
-85.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_173</name>
|
|
<pose>
|
|
87.0
|
|
-83.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_174</name>
|
|
<pose>
|
|
54.0
|
|
-90.0
|
|
5.01
|
|
0
|
|
0
|
|
1.7807411433224916
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_175</name>
|
|
<pose>
|
|
54.0
|
|
-87.68145545574411
|
|
5.01
|
|
0
|
|
0
|
|
1.6882581136315664
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_176</name>
|
|
<pose>
|
|
54.0
|
|
-84.19316905410335
|
|
5.01
|
|
0
|
|
0
|
|
0.5720858555358996
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_177</name>
|
|
<pose>
|
|
54.0
|
|
-82.19372797970902
|
|
5.01
|
|
0
|
|
0
|
|
1.700841244645758
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_178</name>
|
|
<pose>
|
|
54.0
|
|
-81.9263418352509
|
|
5.01
|
|
0
|
|
0
|
|
1.6400047763463064
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_179</name>
|
|
<pose>
|
|
54.0
|
|
-79.50044772955185
|
|
5.01
|
|
0
|
|
0
|
|
2.8584353341983433
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_180</name>
|
|
<pose>
|
|
54.0
|
|
-77.55487667898906
|
|
5.01
|
|
0
|
|
0
|
|
0.3158503329205437
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_181</name>
|
|
<pose>
|
|
54.0
|
|
-76.5666430724498
|
|
5.01
|
|
0
|
|
0
|
|
0.6650403815016199
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_182</name>
|
|
<pose>
|
|
54.0
|
|
-72.39832667262242
|
|
5.01
|
|
0
|
|
0
|
|
2.8360108268074002
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_183</name>
|
|
<pose>
|
|
54.0
|
|
-69.48409714167693
|
|
5.01
|
|
0
|
|
0
|
|
0.23008499662858373
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_184</name>
|
|
<pose>
|
|
54.0
|
|
-73.58702791370882
|
|
5.01
|
|
0
|
|
0
|
|
1.270544679758037
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_185</name>
|
|
<pose>
|
|
54.0
|
|
-67.2562534119266
|
|
5.01
|
|
0
|
|
0
|
|
0.35688080269749006
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_186</name>
|
|
<pose>
|
|
54.0
|
|
-58.37292207324148
|
|
5.01
|
|
0
|
|
0
|
|
1.48185088923336
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_187</name>
|
|
<pose>
|
|
56.1574068090763
|
|
-90.0
|
|
5.01
|
|
0
|
|
0
|
|
2.769714202471519
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_188</name>
|
|
<pose>
|
|
56.208936427669336
|
|
-88.10243992062263
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|
5.01
|
|
0
|
|
0
|
|
0.665682525397477
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_189</name>
|
|
<pose>
|
|
56.45116396129917
|
|
-85.39674019608528
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|
5.01
|
|
0
|
|
0
|
|
0.7286120129732976
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_190</name>
|
|
<pose>
|
|
55.85399280880852
|
|
-82.34428140428001
|
|
5.01
|
|
0
|
|
0
|
|
1.291187695286802
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_191</name>
|
|
<pose>
|
|
57.448174918142946
|
|
-83.12876821986988
|
|
5.01
|
|
0
|
|
0
|
|
1.6293760872428544
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_192</name>
|
|
<pose>
|
|
57.81137016715948
|
|
-75.25475406754963
|
|
5.01
|
|
0
|
|
0
|
|
2.958114797725525
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_193</name>
|
|
<pose>
|
|
57.51765403822865
|
|
-72.5356671651079
|
|
5.01
|
|
0
|
|
0
|
|
0.4367695462625113
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_194</name>
|
|
<pose>
|
|
57.992037707231624
|
|
-75.54949808590854
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|
5.01
|
|
0
|
|
0
|
|
0.08526215964367433
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_195</name>
|
|
<pose>
|
|
57.26798861176418
|
|
-70.61149162376202
|
|
5.01
|
|
0
|
|
0
|
|
1.8454065752314628
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_196</name>
|
|
<pose>
|
|
57.992809575812956
|
|
-67.36012459199168
|
|
5.01
|
|
0
|
|
0
|
|
0.7880429608987733
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_197</name>
|
|
<pose>
|
|
56.42056307282864
|
|
-71.93538033744208
|
|
5.01
|
|
0
|
|
0
|
|
2.4810786089464054
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_198</name>
|
|
<pose>
|
|
57.470730589611975
|
|
-58.45582338712091
|
|
5.01
|
|
0
|
|
0
|
|
1.7279672262915005
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_199</name>
|
|
<pose>
|
|
57.15797118083183
|
|
-56.35635611930383
|
|
5.01
|
|
0
|
|
0
|
|
2.803401763258105
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_200</name>
|
|
<pose>
|
|
58.13270999500757
|
|
-90.0
|
|
5.01
|
|
0
|
|
0
|
|
2.764688262838838
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_201</name>
|
|
<pose>
|
|
60.812070044744424
|
|
-88.17708267199514
|
|
5.01
|
|
0
|
|
0
|
|
2.306584470257578
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_202</name>
|
|
<pose>
|
|
58.675125452794845
|
|
-84.72005905475548
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|
5.01
|
|
0
|
|
0
|
|
2.3995074863092944
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_203</name>
|
|
<pose>
|
|
58.751564539477435
|
|
-84.85603634153118
|
|
5.01
|
|
0
|
|
0
|
|
0.2778339789612391
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_204</name>
|
|
<pose>
|
|
61.814315720443346
|
|
-79.5767080699963
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|
5.01
|
|
0
|
|
0
|
|
1.6372728185613652
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_205</name>
|
|
<pose>
|
|
59.7416100395184
|
|
-76.97242822734744
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|
5.01
|
|
0
|
|
0
|
|
2.4103100781076017
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_206</name>
|
|
<pose>
|
|
58.640367882986524
|
|
-74.42674807385453
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|
5.01
|
|
0
|
|
0
|
|
3.090825616456355
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_207</name>
|
|
<pose>
|
|
59.99947444101913
|
|
-75.0405964184975
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|
5.01
|
|
0
|
|
0
|
|
1.4123661022876113
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_208</name>
|
|
<pose>
|
|
61.53156830748591
|
|
-73.99159673308066
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|
5.01
|
|
0
|
|
0
|
|
2.4390548622275565
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|
</pose>
|
|
<uri>model://oak_tree</uri>
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|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_209</name>
|
|
<pose>
|
|
59.803392233298084
|
|
-63.797987481515236
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|
5.01
|
|
0
|
|
0
|
|
0.5880161235758002
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_210</name>
|
|
<pose>
|
|
58.597157636727275
|
|
-71.30697885178175
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|
5.01
|
|
0
|
|
0
|
|
0.2633617499439685
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_211</name>
|
|
<pose>
|
|
61.99673285106873
|
|
-68.09932099333882
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|
5.01
|
|
0
|
|
0
|
|
1.2612318351687304
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_212</name>
|
|
<pose>
|
|
57.60673715651991
|
|
-67.97806577896547
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|
5.01
|
|
0
|
|
0
|
|
0.9121293108697811
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_213</name>
|
|
<pose>
|
|
59.041914242069126
|
|
-90.0
|
|
5.01
|
|
0
|
|
0
|
|
2.9364984486737074
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_214</name>
|
|
<pose>
|
|
65.87000383673251
|
|
-88.46913837726721
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|
5.01
|
|
0
|
|
0
|
|
0.8435777167167121
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_215</name>
|
|
<pose>
|
|
65.64823196552553
|
|
-86.94128029433182
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|
5.01
|
|
0
|
|
0
|
|
0.6475554619467027
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_216</name>
|
|
<pose>
|
|
61.207486176338335
|
|
-83.01504770199976
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|
5.01
|
|
0
|
|
0
|
|
1.1016411123897611
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_217</name>
|
|
<pose>
|
|
64.61346238677913
|
|
-81.12783358674663
|
|
5.01
|
|
0
|
|
0
|
|
2.190531670983007
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_218</name>
|
|
<pose>
|
|
61.787627940446164
|
|
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|
5.01
|
|
0
|
|
0
|
|
1.9365505635648939
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_219</name>
|
|
<pose>
|
|
63.93985137430756
|
|
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|
5.01
|
|
0
|
|
0
|
|
0.18695410083479416
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_220</name>
|
|
<pose>
|
|
65.44042438497223
|
|
-73.54117704071898
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|
5.01
|
|
0
|
|
0
|
|
0.2604286950840531
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_221</name>
|
|
<pose>
|
|
62.00582282404426
|
|
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|
|
5.01
|
|
0
|
|
0
|
|
1.4070793229781144
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_222</name>
|
|
<pose>
|
|
65.18712664253741
|
|
-65.56252596264827
|
|
5.01
|
|
0
|
|
0
|
|
0.6273761744980172
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_223</name>
|
|
<pose>
|
|
64.8395112403962
|
|
-69.85051673213862
|
|
5.01
|
|
0
|
|
0
|
|
0.22610994324699502
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|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_224</name>
|
|
<pose>
|
|
62.33649109339352
|
|
-71.4181095297273
|
|
5.01
|
|
0
|
|
0
|
|
2.8654574173852922
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_225</name>
|
|
<pose>
|
|
58.536478774258995
|
|
-65.14611249986267
|
|
5.01
|
|
0
|
|
0
|
|
1.7488714346262266
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_226</name>
|
|
<pose>
|
|
61.17044137995384
|
|
-90.0
|
|
5.01
|
|
0
|
|
0
|
|
1.9743402814486648
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_227</name>
|
|
<pose>
|
|
68.56331460643631
|
|
-87.5781812011534
|
|
5.01
|
|
0
|
|
0
|
|
0.0076987168725106605
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_228</name>
|
|
<pose>
|
|
63.335239742923406
|
|
-84.11621240889639
|
|
5.01
|
|
0
|
|
0
|
|
2.1367678219490696
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_229</name>
|
|
<pose>
|
|
64.83700129522701
|
|
-82.12082896410232
|
|
5.01
|
|
0
|
|
0
|
|
1.9089253073510843
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_230</name>
|
|
<pose>
|
|
65.54257813627464
|
|
-79.1054048114944
|
|
5.01
|
|
0
|
|
0
|
|
3.0918659384842084
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_231</name>
|
|
<pose>
|
|
67.57788638563835
|
|
-81.11203522257446
|
|
5.01
|
|
0
|
|
0
|
|
2.6464249805321023
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_232</name>
|
|
<pose>
|
|
68.91286335921565
|
|
-72.41568210829058
|
|
5.01
|
|
0
|
|
0
|
|
2.2384303722160945
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_233</name>
|
|
<pose>
|
|
67.26828634259496
|
|
-78.77238276530582
|
|
5.01
|
|
0
|
|
0
|
|
0.5291318315496869
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_234</name>
|
|
<pose>
|
|
64.58878158049454
|
|
-73.67990511552861
|
|
5.01
|
|
0
|
|
0
|
|
1.7825397040506736
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_235</name>
|
|
<pose>
|
|
64.53334584418434
|
|
-74.23868108368102
|
|
5.01
|
|
0
|
|
0
|
|
0.08987726596582873
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_236</name>
|
|
<pose>
|
|
66.53899609830022
|
|
-67.72497737435798
|
|
5.01
|
|
0
|
|
0
|
|
2.8710752132117583
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_237</name>
|
|
<pose>
|
|
60.84376007589928
|
|
-71.44747914058537
|
|
5.01
|
|
0
|
|
0
|
|
1.9522707942213604
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>oak_tree_238</name>
|
|
<pose>
|
|
68.34076008726413
|
|
-54.403774136798
|
|
5.01
|
|
0
|
|
0
|
|
2.8329378301261126
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
|
|
|
|
|
|
<!-- Block 1 0 -->
|
|
|
|
<include>
|
|
<name>pine_tree_239</name>
|
|
<pose>
|
|
19.71769629986509
|
|
87.64957099026327
|
|
5.01
|
|
0
|
|
0
|
|
0.08834841696753863
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_240</name>
|
|
<pose>
|
|
21.952339063894648
|
|
64.50972358970539
|
|
5.01
|
|
0
|
|
0
|
|
1.4180685239378898
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_241</name>
|
|
<pose>
|
|
0.006266023326933379
|
|
74.15612617855041
|
|
5.01
|
|
0
|
|
0
|
|
1.5361696636880764
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_242</name>
|
|
<pose>
|
|
-1.007879046939883
|
|
81.33988980838224
|
|
5.01
|
|
0
|
|
0
|
|
1.6363602144865947
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_243</name>
|
|
<pose>
|
|
-1.0911932221214684
|
|
60.25977464354172
|
|
5.01
|
|
0
|
|
0
|
|
2.596442759751842
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_244</name>
|
|
<pose>
|
|
34.1784020589725
|
|
78.73034031066507
|
|
5.01
|
|
0
|
|
0
|
|
0.2098994923918648
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_245</name>
|
|
<pose>
|
|
-5.042576532936491
|
|
63.251153003146705
|
|
5.01
|
|
0
|
|
0
|
|
1.6805715562647003
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_246</name>
|
|
<pose>
|
|
9.109202348593735
|
|
61.53305689516471
|
|
5.01
|
|
0
|
|
0
|
|
1.5122042028526668
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_247</name>
|
|
<pose>
|
|
-5.831426848263592
|
|
63.812582241338255
|
|
5.01
|
|
0
|
|
0
|
|
0.5904296265430844
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_248</name>
|
|
<pose>
|
|
26.277846480264664
|
|
87.61267361041394
|
|
5.01
|
|
0
|
|
0
|
|
1.4758153536212482
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_249</name>
|
|
<pose>
|
|
13.047067862435101
|
|
80.02928048304216
|
|
5.01
|
|
0
|
|
0
|
|
0.6240538940620047
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_250</name>
|
|
<pose>
|
|
24.95750677369803
|
|
74.03660165765544
|
|
5.01
|
|
0
|
|
0
|
|
0.9779115410708614
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_251</name>
|
|
<pose>
|
|
29.236717755298308
|
|
54.219373979508276
|
|
5.01
|
|
0
|
|
0
|
|
0.9817924838292779
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_252</name>
|
|
<pose>
|
|
28.710214055454557
|
|
63.03079847709189
|
|
5.01
|
|
0
|
|
0
|
|
2.056232297096095
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_253</name>
|
|
<pose>
|
|
14.46209262072975
|
|
91.53803806364344
|
|
5.01
|
|
0
|
|
0
|
|
2.4620715586496558
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_254</name>
|
|
<pose>
|
|
10.595490612211721
|
|
71.28766167720988
|
|
5.01
|
|
0
|
|
0
|
|
2.4355317313888234
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_255</name>
|
|
<pose>
|
|
5.172899713922266
|
|
81.0929318231327
|
|
5.01
|
|
0
|
|
0
|
|
3.013697190214162
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>playground_256</name>
|
|
<pose>
|
|
16.32
|
|
64.85
|
|
5.01
|
|
0
|
|
0
|
|
-0.98
|
|
</pose>
|
|
<uri>model://playground</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>fountain_257</name>
|
|
<pose>
|
|
0.9
|
|
58.9
|
|
5.01
|
|
0
|
|
0
|
|
2.582084680078702
|
|
</pose>
|
|
<uri>model://fountain</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>fire_hydrant_258</name>
|
|
<pose>
|
|
38.5
|
|
49
|
|
5.16
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://fire_hydrant</uri>
|
|
</include>
|
|
|
|
|
|
<!-- Block 1 1 -->
|
|
|
|
<include>
|
|
<name>law_office_259</name>
|
|
<pose>
|
|
8.47
|
|
9.356
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://law_office</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>thrift_shop_260</name>
|
|
<pose>
|
|
1.35
|
|
9.356
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://thrift_shop</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>salon_261</name>
|
|
<pose>
|
|
15.7
|
|
9.356
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://salon</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_262</name>
|
|
<pose>
|
|
-6.418
|
|
10.37
|
|
5.01
|
|
0
|
|
0
|
|
0.55
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>apartment_263</name>
|
|
<pose>
|
|
1.573
|
|
27.565
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://apartment</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>osrf_first_office_264</name>
|
|
<pose>
|
|
27.003
|
|
20.15
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://osrf_first_office</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_265</name>
|
|
<pose>
|
|
16.096
|
|
34.82
|
|
5.01
|
|
0
|
|
0
|
|
2.912133759716252
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_266</name>
|
|
<pose>
|
|
18.7
|
|
29.33
|
|
5.01
|
|
0
|
|
0
|
|
2.3758040023948586
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_267</name>
|
|
<pose>
|
|
22.56
|
|
34.58
|
|
5.01
|
|
0
|
|
0
|
|
3.0298742222144615
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_268</name>
|
|
<pose>
|
|
31.49
|
|
35.89
|
|
5.01
|
|
0
|
|
0
|
|
-3.03
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>postbox_269</name>
|
|
<pose>
|
|
24.0
|
|
4.33
|
|
5.16
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://postbox</uri>
|
|
</include>
|
|
|
|
|
|
<!-- Block 1 2 -->
|
|
|
|
<include>
|
|
<name>fast_food_270</name>
|
|
<pose>
|
|
28.25
|
|
-13.93
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://fast_food</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>dumpster_271</name>
|
|
<pose>
|
|
15.94
|
|
-13.63
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://dumpster</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>fire_hydrant_272</name>
|
|
<pose>
|
|
38.5
|
|
-4.38
|
|
5.16
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://fire_hydrant</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_273</name>
|
|
<pose>
|
|
37.0
|
|
-33.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_274</name>
|
|
<pose>
|
|
37.0
|
|
-30.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_275</name>
|
|
<pose>
|
|
37.0
|
|
-28.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_276</name>
|
|
<pose>
|
|
37.0
|
|
-25.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_277</name>
|
|
<pose>
|
|
34.5
|
|
-33.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_278</name>
|
|
<pose>
|
|
34.5
|
|
-30.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_279</name>
|
|
<pose>
|
|
34.5
|
|
-28.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_280</name>
|
|
<pose>
|
|
34.5
|
|
-25.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_281</name>
|
|
<pose>
|
|
32.0
|
|
-33.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_282</name>
|
|
<pose>
|
|
32.0
|
|
-30.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_283</name>
|
|
<pose>
|
|
32.0
|
|
-28.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_284</name>
|
|
<pose>
|
|
32.0
|
|
-25.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_285</name>
|
|
<pose>
|
|
29.5
|
|
-33.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_286</name>
|
|
<pose>
|
|
29.5
|
|
-30.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_287</name>
|
|
<pose>
|
|
29.5
|
|
-28.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_288</name>
|
|
<pose>
|
|
29.5
|
|
-25.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_289</name>
|
|
<pose>
|
|
27.0
|
|
-33.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_290</name>
|
|
<pose>
|
|
27.0
|
|
-30.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_291</name>
|
|
<pose>
|
|
27.0
|
|
-28.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_292</name>
|
|
<pose>
|
|
27.0
|
|
-25.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_293</name>
|
|
<pose>
|
|
24.5
|
|
-33.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_294</name>
|
|
<pose>
|
|
24.5
|
|
-30.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_295</name>
|
|
<pose>
|
|
24.5
|
|
-28.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_296</name>
|
|
<pose>
|
|
24.5
|
|
-25.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_297</name>
|
|
<pose>
|
|
22.0
|
|
-33.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_298</name>
|
|
<pose>
|
|
22.0
|
|
-30.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_299</name>
|
|
<pose>
|
|
22.0
|
|
-28.0
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cafe_table_300</name>
|
|
<pose>
|
|
22.0
|
|
-25.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cafe_table</uri>
|
|
</include>
|
|
|
|
|
|
|
|
|
|
<include>
|
|
<name>radio_tower_301</name>
|
|
<pose>
|
|
14.0
|
|
-22.5
|
|
6.5896564799999995
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://radio_tower</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>house_2_302</name>
|
|
<pose>
|
|
1.61
|
|
-14.15
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://house_2</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>house_2_303</name>
|
|
<pose>
|
|
-0.59
|
|
-26.6
|
|
5.01
|
|
0
|
|
0
|
|
-1.57
|
|
</pose>
|
|
<uri>model://house_2</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_304</name>
|
|
<pose>
|
|
-7
|
|
-8
|
|
5.01
|
|
0
|
|
0
|
|
1.597394054725551
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_305</name>
|
|
<pose>
|
|
-2
|
|
-8
|
|
5.01
|
|
0
|
|
0
|
|
2.4817239157866275
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_306</name>
|
|
<pose>
|
|
3
|
|
-8
|
|
5.01
|
|
0
|
|
0
|
|
0.19158014260906409
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_307</name>
|
|
<pose>
|
|
8
|
|
-8
|
|
5.01
|
|
0
|
|
0
|
|
1.304725267857528
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_308</name>
|
|
<pose>
|
|
13
|
|
-8
|
|
5.01
|
|
0
|
|
0
|
|
2.980634136027444
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_309</name>
|
|
<pose>
|
|
-7
|
|
-13
|
|
5.01
|
|
0
|
|
0
|
|
2.394217926951059
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_310</name>
|
|
<pose>
|
|
-7
|
|
-18
|
|
5.01
|
|
0
|
|
0
|
|
1.1893155651532272
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_311</name>
|
|
<pose>
|
|
-7
|
|
-23
|
|
5.01
|
|
0
|
|
0
|
|
2.6077805518727164
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_312</name>
|
|
<pose>
|
|
-7
|
|
-28
|
|
5.01
|
|
0
|
|
0
|
|
0.4094100933836213
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_313</name>
|
|
<pose>
|
|
-7
|
|
-33
|
|
5.01
|
|
0
|
|
0
|
|
2.6494245979905298
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_314</name>
|
|
<pose>
|
|
-7
|
|
-38
|
|
5.01
|
|
0
|
|
0
|
|
2.4179416126453863
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_315</name>
|
|
<pose>
|
|
-2
|
|
-37
|
|
5.01
|
|
0
|
|
0
|
|
3.1169628467520956
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_316</name>
|
|
<pose>
|
|
3
|
|
-37
|
|
5.01
|
|
0
|
|
0
|
|
0.6350091954311053
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_317</name>
|
|
<pose>
|
|
8
|
|
-37
|
|
5.01
|
|
0
|
|
0
|
|
0.73172023719443
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_318</name>
|
|
<pose>
|
|
13
|
|
-37
|
|
5.01
|
|
0
|
|
0
|
|
1.5820696748733232
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_319</name>
|
|
<pose>
|
|
18
|
|
-37
|
|
5.01
|
|
0
|
|
0
|
|
2.087523837816141
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<!-- Block 1 3 -->
|
|
|
|
<include>
|
|
<name>grocery_store_320</name>
|
|
<pose>
|
|
26.027
|
|
-71.4
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://grocery_store</uri>
|
|
</include>
|
|
|
|
<model name="asphalt_plane_321">
|
|
<static>true</static>
|
|
<pose>
|
|
7.4
|
|
-72.69
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<link name="link">
|
|
<collision name="collision">
|
|
<geometry>
|
|
<box>
|
|
<size> 22.248
|
|
36.24
|
|
0.1
|
|
</size> </box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<box>
|
|
<size> 22.248
|
|
36.24
|
|
0.05
|
|
</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>
|
|
</link>
|
|
</model>
|
|
|
|
<model name="asphalt_plane_322">
|
|
<static>true</static>
|
|
<pose>
|
|
-7.51
|
|
-67.99
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<link name="link">
|
|
<collision name="collision">
|
|
<geometry>
|
|
<box>
|
|
<size> 7.63
|
|
7.24
|
|
0.1
|
|
</size> </box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<box>
|
|
<size> 7.63
|
|
7.24
|
|
0.05
|
|
</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>
|
|
</link>
|
|
</model>
|
|
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_323</name>
|
|
<pose>
|
|
-5.5
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
2.5287408911208233
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_324</name>
|
|
<pose>
|
|
-4.0
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
2.0208314498737057
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_325</name>
|
|
<pose>
|
|
-2.5
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
3.0505329433061497
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_326</name>
|
|
<pose>
|
|
-1.0
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
1.4467376069400129
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_327</name>
|
|
<pose>
|
|
0.5
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
1.881697356849494
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_328</name>
|
|
<pose>
|
|
2.0
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
0.17249724279536996
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_329</name>
|
|
<pose>
|
|
3.5
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
0.7602628939790371
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_330</name>
|
|
<pose>
|
|
5.0
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
2.324956615295129
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_331</name>
|
|
<pose>
|
|
6.5
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
0.39277831215307507
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_332</name>
|
|
<pose>
|
|
8.0
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
1.0735687177544777
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_333</name>
|
|
<pose>
|
|
9.5
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
2.7154554506889155
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_334</name>
|
|
<pose>
|
|
11.0
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
2.3858770930751088
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_335</name>
|
|
<pose>
|
|
12.5
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
2.2554785652208804
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_336</name>
|
|
<pose>
|
|
14.0
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
0.015399587276664666
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_337</name>
|
|
<pose>
|
|
15.5
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
2.9252113363081507
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_338</name>
|
|
<pose>
|
|
17.0
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
0.8657180169884192
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_339</name>
|
|
<pose>
|
|
18.5
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
2.1712295484069934
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_340</name>
|
|
<pose>
|
|
20.0
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
1.5437493174631338
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_341</name>
|
|
<pose>
|
|
21.5
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
1.5240712814638717
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_342</name>
|
|
<pose>
|
|
23.0
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
0.986854027586672
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_343</name>
|
|
<pose>
|
|
24.5
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
2.2624969343948096
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_344</name>
|
|
<pose>
|
|
26.0
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
2.9913200834590703
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_345</name>
|
|
<pose>
|
|
27.5
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
1.2948570298163795
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_346</name>
|
|
<pose>
|
|
29.0
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
2.842353632416468
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_347</name>
|
|
<pose>
|
|
30.5
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
1.9904797654970003
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_348</name>
|
|
<pose>
|
|
32.0
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
3.0424630903228347
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_349</name>
|
|
<pose>
|
|
33.5
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
2.02843797971399
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_350</name>
|
|
<pose>
|
|
35.0
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
1.0197423819431088
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_351</name>
|
|
<pose>
|
|
36.5
|
|
-92
|
|
5.01
|
|
0
|
|
0
|
|
1.8815732515321884
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_352</name>
|
|
<pose>
|
|
-5.5
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
0.6686469030925416
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_353</name>
|
|
<pose>
|
|
-4.0
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
1.6895850729204371
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_354</name>
|
|
<pose>
|
|
-2.5
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
1.8374823464630043
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_355</name>
|
|
<pose>
|
|
-1.0
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
2.5480499623704773
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_356</name>
|
|
<pose>
|
|
0.5
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
1.7391220433254544
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_357</name>
|
|
<pose>
|
|
2.0
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
3.0510591502707216
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_358</name>
|
|
<pose>
|
|
3.5
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
2.2571965226732993
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_359</name>
|
|
<pose>
|
|
5.0
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
1.1970932735136288
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_360</name>
|
|
<pose>
|
|
6.5
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
1.0029605618052835
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_361</name>
|
|
<pose>
|
|
8.0
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
3.0899488726034168
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_362</name>
|
|
<pose>
|
|
9.5
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
0.19895507883826108
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_363</name>
|
|
<pose>
|
|
11.0
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
1.126240046799628
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_364</name>
|
|
<pose>
|
|
12.5
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
2.668938952367021
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_365</name>
|
|
<pose>
|
|
14.0
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
0.36331348839187394
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_366</name>
|
|
<pose>
|
|
15.5
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
1.5860116010748295
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_367</name>
|
|
<pose>
|
|
17.0
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
0.727537874063049
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_368</name>
|
|
<pose>
|
|
18.5
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
1.0086377400878639
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_369</name>
|
|
<pose>
|
|
20.0
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
1.619492926381523
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_370</name>
|
|
<pose>
|
|
21.5
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
0.051524831281651945
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_371</name>
|
|
<pose>
|
|
23.0
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
2.8926069407242543
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_372</name>
|
|
<pose>
|
|
24.5
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
0.20556117632948184
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_373</name>
|
|
<pose>
|
|
26.0
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
2.7405600878328804
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_374</name>
|
|
<pose>
|
|
27.5
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
1.5968448962517212
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_375</name>
|
|
<pose>
|
|
29.0
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
1.9031398164338504
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_376</name>
|
|
<pose>
|
|
30.5
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
2.5356273164950753
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_377</name>
|
|
<pose>
|
|
32.0
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
2.5116381455764545
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_378</name>
|
|
<pose>
|
|
33.5
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
0.2843745520108878
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_379</name>
|
|
<pose>
|
|
35.0
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
1.1180189938728555
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_380</name>
|
|
<pose>
|
|
36.5
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
0.48139515465252547
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_381</name>
|
|
<pose>
|
|
-5
|
|
-54.5
|
|
5.01
|
|
0
|
|
0
|
|
0.7891603803655931
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_382</name>
|
|
<pose>
|
|
-5
|
|
-56.0
|
|
5.01
|
|
0
|
|
0
|
|
1.4521640637230855
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_383</name>
|
|
<pose>
|
|
-5
|
|
-57.5
|
|
5.01
|
|
0
|
|
0
|
|
0.229757774755848
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_384</name>
|
|
<pose>
|
|
-5
|
|
-59.0
|
|
5.01
|
|
0
|
|
0
|
|
0.5774803930945964
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_385</name>
|
|
<pose>
|
|
-5
|
|
-60.5
|
|
5.01
|
|
0
|
|
0
|
|
1.2709660808305814
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_386</name>
|
|
<pose>
|
|
-5
|
|
-62.0
|
|
5.01
|
|
0
|
|
0
|
|
2.8878756084485646
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_387</name>
|
|
<pose>
|
|
-5
|
|
-63.5
|
|
5.01
|
|
0
|
|
0
|
|
0.7080341748157535
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_388</name>
|
|
<pose>
|
|
-5
|
|
-72.5
|
|
5.01
|
|
0
|
|
0
|
|
3.0674635549925386
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_389</name>
|
|
<pose>
|
|
-5
|
|
-74.0
|
|
5.01
|
|
0
|
|
0
|
|
1.6638021649258554
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_390</name>
|
|
<pose>
|
|
-5
|
|
-75.5
|
|
5.01
|
|
0
|
|
0
|
|
2.1928923173421326
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_391</name>
|
|
<pose>
|
|
-5
|
|
-77.0
|
|
5.01
|
|
0
|
|
0
|
|
0.7730878804757917
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_392</name>
|
|
<pose>
|
|
-5
|
|
-78.5
|
|
5.01
|
|
0
|
|
0
|
|
1.9439089217349426
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_393</name>
|
|
<pose>
|
|
-5
|
|
-80.0
|
|
5.01
|
|
0
|
|
0
|
|
1.0398307546763494
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_394</name>
|
|
<pose>
|
|
-5
|
|
-81.5
|
|
5.01
|
|
0
|
|
0
|
|
3.0733058702736438
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_395</name>
|
|
<pose>
|
|
-5
|
|
-83.0
|
|
5.01
|
|
0
|
|
0
|
|
2.34822847785733
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_396</name>
|
|
<pose>
|
|
-5
|
|
-84.5
|
|
5.01
|
|
0
|
|
0
|
|
0.6156840327182685
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_397</name>
|
|
<pose>
|
|
-5
|
|
-86.0
|
|
5.01
|
|
0
|
|
0
|
|
0.9394226239118242
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_398</name>
|
|
<pose>
|
|
-5
|
|
-87.5
|
|
5.01
|
|
0
|
|
0
|
|
2.474215084031574
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_399</name>
|
|
<pose>
|
|
-5
|
|
-89.0
|
|
5.01
|
|
0
|
|
0
|
|
1.3719062207155415
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_400</name>
|
|
<pose>
|
|
-5
|
|
-90.5
|
|
5.01
|
|
0
|
|
0
|
|
1.2557469276235194
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>hatchback_blue_401</name>
|
|
<pose>
|
|
9.27
|
|
-85.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://hatchback_blue</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>fire_hydrant_402</name>
|
|
<pose>
|
|
-10.8
|
|
-93.34
|
|
5.16
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://fire_hydrant</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>postbox_403</name>
|
|
<pose>
|
|
-10.76
|
|
-74.02
|
|
5.16
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://postbox</uri>
|
|
</include>
|
|
|
|
|
|
<!-- Block 2 0 -->
|
|
|
|
<include>
|
|
<name>school_404</name>
|
|
<pose>
|
|
-27.309
|
|
67.823
|
|
5.01
|
|
0
|
|
0
|
|
-1.57
|
|
</pose>
|
|
<uri>model://school</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_405</name>
|
|
<pose>
|
|
-28.916
|
|
89.604
|
|
5.01
|
|
0
|
|
0
|
|
-0.51
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_406</name>
|
|
<pose>
|
|
-34.077
|
|
89.854
|
|
5.01
|
|
0
|
|
0
|
|
0.51
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>fire_hydrant_407</name>
|
|
<pose>
|
|
-38.5
|
|
49
|
|
5.16
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://fire_hydrant</uri>
|
|
</include>
|
|
|
|
|
|
<!-- Block 2 1 -->
|
|
|
|
<include>
|
|
<name>post_office_408</name>
|
|
<pose>
|
|
-26.686
|
|
11.119
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://post_office</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>postbox_409</name>
|
|
<pose>
|
|
-28.58
|
|
4.33
|
|
5.16
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://postbox</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_410</name>
|
|
<pose>
|
|
-30.709
|
|
7.15
|
|
5.01
|
|
0
|
|
0
|
|
1.007631001944328
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>house_1_411</name>
|
|
<pose>
|
|
-27.49
|
|
25.344
|
|
5.01
|
|
0
|
|
0
|
|
-1.57
|
|
</pose>
|
|
<uri>model://house_1</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pickup_412</name>
|
|
<pose>
|
|
-36.72
|
|
21.02
|
|
5.01
|
|
0
|
|
0
|
|
-1.57
|
|
</pose>
|
|
<uri>model://pickup</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_413</name>
|
|
<pose>
|
|
-35.811
|
|
11.78
|
|
5.01
|
|
0
|
|
0
|
|
0.55
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_414</name>
|
|
<pose>
|
|
-22.97
|
|
15.87
|
|
5.01
|
|
0
|
|
0
|
|
1.82
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>oak_tree_415</name>
|
|
<pose>
|
|
-36.78
|
|
36.47
|
|
5.01
|
|
0
|
|
0
|
|
1.7
|
|
</pose>
|
|
<uri>model://oak_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_416</name>
|
|
<pose>
|
|
-23.94
|
|
34.92
|
|
5.01
|
|
0
|
|
0
|
|
0.56
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>cardboard_box_417</name>
|
|
<pose>
|
|
-32
|
|
8
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cardboard_box</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>cardboard_box_418</name>
|
|
<pose>
|
|
-33
|
|
7.5
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://cardboard_box</uri>
|
|
</include>
|
|
|
|
|
|
<!-- Block 2 2 -->
|
|
|
|
<include>
|
|
<name>salon_419</name>
|
|
<pose>
|
|
-27.65
|
|
-9.35
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://salon</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>law_office_420</name>
|
|
<pose>
|
|
-34.886
|
|
-9.408
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://law_office</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>house_3_421</name>
|
|
<pose>
|
|
-33.39
|
|
-21.3
|
|
5.01
|
|
0
|
|
0
|
|
-1.57
|
|
</pose>
|
|
<uri>model://house_3</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>house_3_422</name>
|
|
<pose>
|
|
-28.126
|
|
-32.93
|
|
5.01
|
|
0
|
|
0
|
|
0.0
|
|
</pose>
|
|
<uri>model://house_3</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>house_3_423</name>
|
|
<pose>
|
|
-25.739
|
|
-19.38
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://house_3</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_424</name>
|
|
<pose>
|
|
-37.48
|
|
-13.67
|
|
5.01
|
|
0
|
|
0
|
|
2.1836080911086513
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_425</name>
|
|
<pose>
|
|
-22.26
|
|
-7.39
|
|
5.01
|
|
0
|
|
0
|
|
1.6451545746936262
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_426</name>
|
|
<pose>
|
|
-22.26
|
|
-10.46
|
|
5.01
|
|
0
|
|
0
|
|
1.8067028306627428
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_427</name>
|
|
<pose>
|
|
-35.045
|
|
-28.058
|
|
5.01
|
|
0
|
|
0
|
|
0.47183818801249244
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_428</name>
|
|
<pose>
|
|
-37.48
|
|
-36.76
|
|
5.01
|
|
0
|
|
0
|
|
0.8515905597685731
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_429</name>
|
|
<pose>
|
|
-33.06
|
|
-37.17
|
|
5.01
|
|
0
|
|
0
|
|
1.8774770668819474
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pine_tree_430</name>
|
|
<pose>
|
|
-25.34
|
|
-29.166
|
|
5.01
|
|
0
|
|
0
|
|
0.7905035301866978
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>fire_hydrant_431</name>
|
|
<pose>
|
|
-20.34
|
|
-4.38
|
|
5.16
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://fire_hydrant</uri>
|
|
</include>
|
|
|
|
|
|
<!-- Block 2 3 -->
|
|
|
|
<include>
|
|
<name>police_station_432</name>
|
|
<pose>
|
|
-31.838
|
|
-59.696
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://police_station</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>fire_hydrant_433</name>
|
|
<pose>
|
|
-40.34
|
|
-49.16
|
|
5.16
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://fire_hydrant</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_434</name>
|
|
<pose>
|
|
-22.426019832334344
|
|
-52
|
|
5.01
|
|
0
|
|
0
|
|
1.1036741471786737
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_435</name>
|
|
<pose>
|
|
-22.878375186141373
|
|
-53
|
|
5.01
|
|
0
|
|
0
|
|
0.3885766317492959
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_436</name>
|
|
<pose>
|
|
-23.04132261741682
|
|
-54
|
|
5.01
|
|
0
|
|
0
|
|
1.5934356064927782
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_437</name>
|
|
<pose>
|
|
-22.91911380743659
|
|
-55
|
|
5.01
|
|
0
|
|
0
|
|
0.4358954442009726
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_438</name>
|
|
<pose>
|
|
-23.30938839104161
|
|
-56
|
|
5.01
|
|
0
|
|
0
|
|
2.2497010610523533
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_439</name>
|
|
<pose>
|
|
-23.262742849413733
|
|
-57
|
|
5.01
|
|
0
|
|
0
|
|
0.40235252865139914
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_440</name>
|
|
<pose>
|
|
-23.24067685500148
|
|
-58
|
|
5.01
|
|
0
|
|
0
|
|
1.6729369977907782
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_441</name>
|
|
<pose>
|
|
-23.477422361264004
|
|
-59
|
|
5.01
|
|
0
|
|
0
|
|
1.2722599807885897
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_442</name>
|
|
<pose>
|
|
-22.21254087020483
|
|
-60
|
|
5.01
|
|
0
|
|
0
|
|
2.7693450705215197
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pine_tree_443</name>
|
|
<pose>
|
|
-23.596904349747167
|
|
-61
|
|
5.01
|
|
0
|
|
0
|
|
0.7573808776645483
|
|
</pose>
|
|
<uri>model://pine_tree</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>collapsed_industrial_444</name>
|
|
<pose>
|
|
-29.8725
|
|
-83.9104
|
|
5.01
|
|
0
|
|
0
|
|
1.5708
|
|
</pose>
|
|
<uri>model://collapsed_industrial</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>construction_cone_445</name>
|
|
<pose>
|
|
-40.748
|
|
-90.1868
|
|
5.16
|
|
0
|
|
0
|
|
2.870278212497464
|
|
</pose>
|
|
<uri>model://construction_cone</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>construction_cone_446</name>
|
|
<pose>
|
|
-40.692
|
|
-95.2899
|
|
5.16
|
|
0
|
|
0
|
|
3.054937062172713
|
|
</pose>
|
|
<uri>model://construction_cone</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>construction_cone_447</name>
|
|
<pose>
|
|
-37.8997
|
|
-95.3521
|
|
5.16
|
|
0
|
|
0
|
|
2.3804977278647232
|
|
</pose>
|
|
<uri>model://construction_cone</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>construction_cone_448</name>
|
|
<pose>
|
|
-35.2603
|
|
-95.3721
|
|
5.16
|
|
0
|
|
0
|
|
0.9117844879796588
|
|
</pose>
|
|
<uri>model://construction_cone</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>construction_cone_449</name>
|
|
<pose>
|
|
-31.8118
|
|
-95.4314
|
|
5.16
|
|
0
|
|
0
|
|
0.9519149311928309
|
|
</pose>
|
|
<uri>model://construction_cone</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>construction_cone_450</name>
|
|
<pose>
|
|
-40.1918
|
|
-74.491
|
|
5.16
|
|
0
|
|
0
|
|
2.728519257722814
|
|
</pose>
|
|
<uri>model://construction_cone</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>construction_cone_451</name>
|
|
<pose>
|
|
-40.6878
|
|
-80.629
|
|
5.16
|
|
0
|
|
0
|
|
3.110855437817283
|
|
</pose>
|
|
<uri>model://construction_cone</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>cinder_block_452</name>
|
|
<pose>
|
|
-36.42601880307613
|
|
-88.73173154329764
|
|
5.16
|
|
0
|
|
0
|
|
2.17026783193664
|
|
</pose>
|
|
<uri>model://cinder_block</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>cinder_block_453</name>
|
|
<pose>
|
|
-38.61629562540261
|
|
-88.83916875458318
|
|
5.16
|
|
0
|
|
0
|
|
0.9758660883107019
|
|
</pose>
|
|
<uri>model://cinder_block</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>cinder_block_454</name>
|
|
<pose>
|
|
-37.576745617317535
|
|
-93.62625673450032
|
|
5.16
|
|
0
|
|
0
|
|
2.5616474659753075
|
|
</pose>
|
|
<uri>model://cinder_block</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>cinder_block_455</name>
|
|
<pose>
|
|
-36.01039041920959
|
|
-90.25438304766175
|
|
5.16
|
|
0
|
|
0
|
|
1.3594876883748235
|
|
</pose>
|
|
<uri>model://cinder_block</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>cinder_block_456</name>
|
|
<pose>
|
|
-35.79644590878738
|
|
-91.67670837154319
|
|
5.16
|
|
0
|
|
0
|
|
2.2022140338587737
|
|
</pose>
|
|
<uri>model://cinder_block</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>cinder_block_457</name>
|
|
<pose>
|
|
-38.989902513451874
|
|
-90.08660665815901
|
|
5.16
|
|
0
|
|
0
|
|
0.06888452264013348
|
|
</pose>
|
|
<uri>model://cinder_block</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>cinder_block_2_458</name>
|
|
<pose>
|
|
-37.99964581046347
|
|
-93.18065587844565
|
|
5.16
|
|
0
|
|
0
|
|
2.373690396471485
|
|
</pose>
|
|
<uri>model://cinder_block_2</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>cinder_block_2_459</name>
|
|
<pose>
|
|
-37.072765027767595
|
|
-90.37003637605777
|
|
5.16
|
|
0
|
|
0
|
|
1.730687254337946
|
|
</pose>
|
|
<uri>model://cinder_block_2</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>cinder_block_2_460</name>
|
|
<pose>
|
|
-37.715667130496286
|
|
-93.7109665136357
|
|
5.16
|
|
0
|
|
0
|
|
1.7445566134670842
|
|
</pose>
|
|
<uri>model://cinder_block_2</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>cinder_block_2_461</name>
|
|
<pose>
|
|
-36.933743251866986
|
|
-89.86964216025284
|
|
5.16
|
|
0
|
|
0
|
|
0.6011278846070364
|
|
</pose>
|
|
<uri>model://cinder_block_2</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>cinder_block_2_462</name>
|
|
<pose>
|
|
-37.55518912936937
|
|
-88.14702473207478
|
|
5.16
|
|
0
|
|
0
|
|
0.33664603957402706
|
|
</pose>
|
|
<uri>model://cinder_block_2</uri>
|
|
</include>
|
|
|
|
|
|
<!-- West block -->
|
|
|
|
<!-- East block -->
|
|
|
|
<include>
|
|
<name>powerplant_463</name>
|
|
<pose>
|
|
15.57
|
|
-134.33
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://powerplant</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>reactor_464</name>
|
|
<pose>
|
|
-42.29
|
|
-115.79
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://reactor</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>reactor_465</name>
|
|
<pose>
|
|
-40.95
|
|
-136.98
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://reactor</uri>
|
|
</include>
|
|
|
|
|
|
<!-- Construction zone -->
|
|
|
|
<include>
|
|
<name>tower_crane_466</name>
|
|
<pose>
|
|
-46.2805
|
|
-101.493
|
|
5.01
|
|
0
|
|
0
|
|
1.60214
|
|
</pose>
|
|
<uri>model://tower_crane</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>drc_practice_angled_barrier_45_467</name>
|
|
<pose>
|
|
-37.2216
|
|
-100.588
|
|
5.01
|
|
0
|
|
0
|
|
3.14159
|
|
</pose>
|
|
<uri>model://drc_practice_angled_barrier_45</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>drc_practice_orange_jersey_barrier_468</name>
|
|
<pose>
|
|
-34.8405
|
|
-101.725
|
|
5.01
|
|
0
|
|
0
|
|
0.867273
|
|
</pose>
|
|
<uri>model://drc_practice_orange_jersey_barrier</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>construction_barrel_469</name>
|
|
<pose>
|
|
-47.7276
|
|
-90.7959
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://construction_barrel</uri>
|
|
</include>
|
|
|
|
|
|
<!-- South island -->
|
|
|
|
<include>
|
|
<name>truss_bridge_470</name>
|
|
<pose>
|
|
-56.37
|
|
-45
|
|
4.72
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://truss_bridge</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>truss_bridge_471</name>
|
|
<pose>
|
|
-56.37
|
|
0
|
|
4.72
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://truss_bridge</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pier_472</name>
|
|
<pose>
|
|
-108.77
|
|
-22.03
|
|
-2.59
|
|
0
|
|
0
|
|
2.27
|
|
</pose>
|
|
<uri>model://pier</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>bus_473</name>
|
|
<pose>
|
|
-79.68
|
|
-3.81
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://bus</uri>
|
|
</include>
|
|
|
|
|
|
<road name="sandy_path">
|
|
<width>17.9</width>
|
|
<point>-73 -47.96 5.02</point>
|
|
<point>-73 2.9600000000000004 5.02</point>
|
|
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Residential</name>
|
|
</script>
|
|
</material>
|
|
</road>
|
|
|
|
<!-- Stop lights -->
|
|
|
|
<include>
|
|
<name>stop_light_post_474</name>
|
|
<pose>
|
|
-41.3
|
|
-48.7
|
|
5.01
|
|
0
|
|
0
|
|
-1.57
|
|
</pose>
|
|
<uri>model://stop_light_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_light_post_475</name>
|
|
<pose>
|
|
-41.3
|
|
-3.7
|
|
5.01
|
|
0
|
|
0
|
|
-1.57
|
|
</pose>
|
|
<uri>model://stop_light_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_light_post_476</name>
|
|
<pose>
|
|
-11.3
|
|
-3.7
|
|
5.01
|
|
0
|
|
0
|
|
-1.57
|
|
</pose>
|
|
<uri>model://stop_light_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_light_post_477</name>
|
|
<pose>
|
|
48.7
|
|
-3.7
|
|
5.01
|
|
0
|
|
0
|
|
-1.57
|
|
</pose>
|
|
<uri>model://stop_light_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_light_post_478</name>
|
|
<pose>
|
|
123.7
|
|
-3.7
|
|
5.01
|
|
0
|
|
0
|
|
-1.57
|
|
</pose>
|
|
<uri>model://stop_light_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_light_post_479</name>
|
|
<pose>
|
|
-48.7
|
|
3.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://stop_light_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_light_post_480</name>
|
|
<pose>
|
|
-18.7
|
|
3.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://stop_light_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_light_post_481</name>
|
|
<pose>
|
|
41.3
|
|
3.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://stop_light_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_light_post_482</name>
|
|
<pose>
|
|
-41.3
|
|
3.7
|
|
5.01
|
|
0
|
|
0
|
|
0.0
|
|
</pose>
|
|
<uri>model://stop_light_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_light_post_483</name>
|
|
<pose>
|
|
-11.3
|
|
3.7
|
|
5.01
|
|
0
|
|
0
|
|
0.0
|
|
</pose>
|
|
<uri>model://stop_light_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_light_post_484</name>
|
|
<pose>
|
|
123.7
|
|
3.7
|
|
5.01
|
|
0
|
|
0
|
|
0.0
|
|
</pose>
|
|
<uri>model://stop_light_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_light_post_485</name>
|
|
<pose>
|
|
-48.7
|
|
-3.7
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://stop_light_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_light_post_486</name>
|
|
<pose>
|
|
41.3
|
|
-3.7
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://stop_light_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_light_post_487</name>
|
|
<pose>
|
|
106.3
|
|
-3.7
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://stop_light_post</uri>
|
|
</include>
|
|
|
|
|
|
<!-- Stop signs -->
|
|
|
|
<include>
|
|
<name>stop_sign_488</name>
|
|
<pose>
|
|
-41.3
|
|
48.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://stop_sign</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_sign_489</name>
|
|
<pose>
|
|
-11.3
|
|
48.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://stop_sign</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_sign_490</name>
|
|
<pose>
|
|
48.7
|
|
48.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://stop_sign</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_sign_491</name>
|
|
<pose>
|
|
-11.3
|
|
-48.7
|
|
5.01
|
|
0
|
|
0
|
|
0.0
|
|
</pose>
|
|
<uri>model://stop_sign</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_sign_492</name>
|
|
<pose>
|
|
-11.3
|
|
41.3
|
|
5.01
|
|
0
|
|
0
|
|
0.0
|
|
</pose>
|
|
<uri>model://stop_sign</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_sign_493</name>
|
|
<pose>
|
|
-11.3
|
|
96.3
|
|
5.01
|
|
0
|
|
0
|
|
0.0
|
|
</pose>
|
|
<uri>model://stop_sign</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_sign_494</name>
|
|
<pose>
|
|
41.3
|
|
-96.3
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://stop_sign</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_sign_495</name>
|
|
<pose>
|
|
41.3
|
|
-41.3
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://stop_sign</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_sign_496</name>
|
|
<pose>
|
|
41.3
|
|
48.7
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://stop_sign</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_sign_497</name>
|
|
<pose>
|
|
-18.7
|
|
-48.7
|
|
5.01
|
|
0
|
|
0
|
|
-1.57
|
|
</pose>
|
|
<uri>model://stop_sign</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_sign_498</name>
|
|
<pose>
|
|
41.3
|
|
-48.7
|
|
5.01
|
|
0
|
|
0
|
|
-1.57
|
|
</pose>
|
|
<uri>model://stop_sign</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>stop_sign_499</name>
|
|
<pose>
|
|
106.3
|
|
-48.7
|
|
5.01
|
|
0
|
|
0
|
|
-1.57
|
|
</pose>
|
|
<uri>model://stop_sign</uri>
|
|
</include>
|
|
|
|
|
|
<!-- Street lights -->
|
|
|
|
|
|
<include>
|
|
<name>lamp_post_500</name>
|
|
<pose>
|
|
-35.1
|
|
-3.7
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://lamp_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>lamp_post_501</name>
|
|
<pose>
|
|
-25.2
|
|
3.7
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://lamp_post</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>lamp_post_502</name>
|
|
<pose>
|
|
-3.0
|
|
-3.7
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://lamp_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>lamp_post_503</name>
|
|
<pose>
|
|
9.0
|
|
3.7
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://lamp_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>lamp_post_504</name>
|
|
<pose>
|
|
21.0
|
|
-3.7
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://lamp_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>lamp_post_505</name>
|
|
<pose>
|
|
27.0
|
|
3.7
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://lamp_post</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<include>
|
|
<name>lamp_post_506</name>
|
|
<pose>
|
|
58.0
|
|
-3.7
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://lamp_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>lamp_post_507</name>
|
|
<pose>
|
|
71.0
|
|
3.7
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://lamp_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>lamp_post_508</name>
|
|
<pose>
|
|
84.0
|
|
-3.7
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://lamp_post</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>lamp_post_509</name>
|
|
<pose>
|
|
90.5
|
|
3.7
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://lamp_post</uri>
|
|
</include>
|
|
|
|
|
|
<!-- Telephone poles -->
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_510</name>
|
|
<pose>
|
|
-41.3
|
|
-81.85
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_511</name>
|
|
<pose>
|
|
-41.3
|
|
-63.699999999999996
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_512</name>
|
|
<pose>
|
|
-11.3
|
|
-81.85
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_513</name>
|
|
<pose>
|
|
-11.3
|
|
-63.699999999999996
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_514</name>
|
|
<pose>
|
|
-18.7
|
|
-81.85
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_515</name>
|
|
<pose>
|
|
-18.7
|
|
-63.699999999999996
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_516</name>
|
|
<pose>
|
|
48.7
|
|
-81.85
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_517</name>
|
|
<pose>
|
|
48.7
|
|
-63.699999999999996
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_518</name>
|
|
<pose>
|
|
41.3
|
|
-81.85
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_519</name>
|
|
<pose>
|
|
41.3
|
|
-63.699999999999996
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_520</name>
|
|
<pose>
|
|
106.3
|
|
-81.85
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_521</name>
|
|
<pose>
|
|
106.3
|
|
-63.699999999999996
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_522</name>
|
|
<pose>
|
|
-41.3
|
|
-30.15
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_523</name>
|
|
<pose>
|
|
-41.3
|
|
-15.299999999999997
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_524</name>
|
|
<pose>
|
|
-11.3
|
|
-30.15
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_525</name>
|
|
<pose>
|
|
-11.3
|
|
-15.299999999999997
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_526</name>
|
|
<pose>
|
|
-18.7
|
|
-30.15
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_527</name>
|
|
<pose>
|
|
-18.7
|
|
-15.299999999999997
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_528</name>
|
|
<pose>
|
|
48.7
|
|
-30.15
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_529</name>
|
|
<pose>
|
|
48.7
|
|
-15.299999999999997
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_530</name>
|
|
<pose>
|
|
41.3
|
|
-30.15
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_531</name>
|
|
<pose>
|
|
41.3
|
|
-15.299999999999997
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_532</name>
|
|
<pose>
|
|
106.3
|
|
-30.15
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_533</name>
|
|
<pose>
|
|
106.3
|
|
-15.299999999999997
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_534</name>
|
|
<pose>
|
|
-41.3
|
|
14.850000000000001
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_535</name>
|
|
<pose>
|
|
-41.3
|
|
29.700000000000003
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_536</name>
|
|
<pose>
|
|
-11.3
|
|
14.850000000000001
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_537</name>
|
|
<pose>
|
|
-11.3
|
|
29.700000000000003
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_538</name>
|
|
<pose>
|
|
-18.7
|
|
14.850000000000001
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_539</name>
|
|
<pose>
|
|
-18.7
|
|
29.700000000000003
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_540</name>
|
|
<pose>
|
|
48.7
|
|
14.850000000000001
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_541</name>
|
|
<pose>
|
|
48.7
|
|
29.700000000000003
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_542</name>
|
|
<pose>
|
|
41.3
|
|
14.850000000000001
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_543</name>
|
|
<pose>
|
|
41.3
|
|
29.700000000000003
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_544</name>
|
|
<pose>
|
|
106.3
|
|
14.850000000000001
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_545</name>
|
|
<pose>
|
|
106.3
|
|
29.700000000000003
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_546</name>
|
|
<pose>
|
|
-41.3
|
|
63.150000000000006
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_547</name>
|
|
<pose>
|
|
-41.3
|
|
81.30000000000001
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_548</name>
|
|
<pose>
|
|
-11.3
|
|
63.150000000000006
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_549</name>
|
|
<pose>
|
|
-11.3
|
|
81.30000000000001
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_550</name>
|
|
<pose>
|
|
-18.7
|
|
63.150000000000006
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_551</name>
|
|
<pose>
|
|
-18.7
|
|
81.30000000000001
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_552</name>
|
|
<pose>
|
|
48.7
|
|
63.150000000000006
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_553</name>
|
|
<pose>
|
|
48.7
|
|
81.30000000000001
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_554</name>
|
|
<pose>
|
|
41.3
|
|
63.150000000000006
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_555</name>
|
|
<pose>
|
|
41.3
|
|
81.30000000000001
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_556</name>
|
|
<pose>
|
|
106.3
|
|
63.150000000000006
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_557</name>
|
|
<pose>
|
|
106.3
|
|
81.30000000000001
|
|
5.01
|
|
0
|
|
0
|
|
3.14
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_558</name>
|
|
<pose>
|
|
-35.1
|
|
-96.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_559</name>
|
|
<pose>
|
|
-25.2
|
|
-96.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_560</name>
|
|
<pose>
|
|
-35.1
|
|
-41.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_561</name>
|
|
<pose>
|
|
-25.2
|
|
-41.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_562</name>
|
|
<pose>
|
|
-35.1
|
|
-48.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_563</name>
|
|
<pose>
|
|
-25.2
|
|
-48.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_564</name>
|
|
<pose>
|
|
-35.1
|
|
48.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_565</name>
|
|
<pose>
|
|
-25.2
|
|
48.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_566</name>
|
|
<pose>
|
|
-35.1
|
|
41.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_567</name>
|
|
<pose>
|
|
-25.2
|
|
41.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_568</name>
|
|
<pose>
|
|
-35.1
|
|
96.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_569</name>
|
|
<pose>
|
|
-25.2
|
|
96.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_570</name>
|
|
<pose>
|
|
4.800000000000001
|
|
-96.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_571</name>
|
|
<pose>
|
|
24.6
|
|
-96.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_572</name>
|
|
<pose>
|
|
4.800000000000001
|
|
-41.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_573</name>
|
|
<pose>
|
|
24.6
|
|
-41.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_574</name>
|
|
<pose>
|
|
4.800000000000001
|
|
-48.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_575</name>
|
|
<pose>
|
|
24.6
|
|
-48.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_576</name>
|
|
<pose>
|
|
4.800000000000001
|
|
48.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_577</name>
|
|
<pose>
|
|
24.6
|
|
48.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_578</name>
|
|
<pose>
|
|
4.800000000000001
|
|
41.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_579</name>
|
|
<pose>
|
|
24.6
|
|
41.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_580</name>
|
|
<pose>
|
|
4.800000000000001
|
|
96.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_581</name>
|
|
<pose>
|
|
24.6
|
|
96.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_582</name>
|
|
<pose>
|
|
66.45
|
|
-96.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_583</name>
|
|
<pose>
|
|
87.9
|
|
-96.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_584</name>
|
|
<pose>
|
|
66.45
|
|
-41.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_585</name>
|
|
<pose>
|
|
87.9
|
|
-41.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_586</name>
|
|
<pose>
|
|
66.45
|
|
-48.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_587</name>
|
|
<pose>
|
|
87.9
|
|
-48.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_588</name>
|
|
<pose>
|
|
66.45
|
|
48.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_589</name>
|
|
<pose>
|
|
87.9
|
|
48.7
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_590</name>
|
|
<pose>
|
|
66.45
|
|
41.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_591</name>
|
|
<pose>
|
|
87.9
|
|
41.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>telephone_pole_592</name>
|
|
<pose>
|
|
66.45
|
|
96.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>telephone_pole_593</name>
|
|
<pose>
|
|
87.9
|
|
96.3
|
|
5.01
|
|
0
|
|
0
|
|
1.57
|
|
</pose>
|
|
<uri>model://telephone_pole</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<!-- Parallel-parked cars -->
|
|
|
|
|
|
<include>
|
|
<name>hatchback_594</name>
|
|
<pose>
|
|
-17.55
|
|
-84.30815334714316
|
|
5.01
|
|
0
|
|
0
|
|
1.5707963267948966
|
|
</pose>
|
|
<uri>model://hatchback</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>hatchback_red_595</name>
|
|
<pose>
|
|
-12.450000000000001
|
|
-76.90941410465881
|
|
5.01
|
|
0
|
|
0
|
|
1.5707963267948966
|
|
</pose>
|
|
<uri>model://hatchback_red</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>hatchback_red_596</name>
|
|
<pose>
|
|
42.449999999999996
|
|
-72.98660164699623
|
|
5.01
|
|
0
|
|
0
|
|
-1.5707963267948966
|
|
</pose>
|
|
<uri>model://hatchback_red</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pickup_597</name>
|
|
<pose>
|
|
47.550000000000004
|
|
-88.58571244483804
|
|
5.01
|
|
0
|
|
0
|
|
-1.5707963267948966
|
|
</pose>
|
|
<uri>model://pickup</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pickup_598</name>
|
|
<pose>
|
|
-17.55
|
|
-35.850344924769296
|
|
5.01
|
|
0
|
|
0
|
|
1.5707963267948966
|
|
</pose>
|
|
<uri>model://pickup</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pickup_599</name>
|
|
<pose>
|
|
-12.450000000000001
|
|
-13.762088529673171
|
|
5.01
|
|
0
|
|
0
|
|
1.5707963267948966
|
|
</pose>
|
|
<uri>model://pickup</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>hatchback_red_600</name>
|
|
<pose>
|
|
42.449999999999996
|
|
-30.251955317278806
|
|
5.01
|
|
0
|
|
0
|
|
-1.5707963267948966
|
|
</pose>
|
|
<uri>model://hatchback_red</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pickup_601</name>
|
|
<pose>
|
|
47.550000000000004
|
|
-34.86364132078475
|
|
5.01
|
|
0
|
|
0
|
|
-1.5707963267948966
|
|
</pose>
|
|
<uri>model://pickup</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>hatchback_602</name>
|
|
<pose>
|
|
-17.55
|
|
15.449777321036978
|
|
5.01
|
|
0
|
|
0
|
|
1.5707963267948966
|
|
</pose>
|
|
<uri>model://hatchback</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>hatchback_red_603</name>
|
|
<pose>
|
|
-12.450000000000001
|
|
35.493543486655724
|
|
5.01
|
|
0
|
|
0
|
|
1.5707963267948966
|
|
</pose>
|
|
<uri>model://hatchback_red</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>hatchback_blue_604</name>
|
|
<pose>
|
|
42.449999999999996
|
|
30.4802990891103
|
|
5.01
|
|
0
|
|
0
|
|
-1.5707963267948966
|
|
</pose>
|
|
<uri>model://hatchback_blue</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pickup_605</name>
|
|
<pose>
|
|
47.550000000000004
|
|
9.006685891863139
|
|
5.01
|
|
0
|
|
0
|
|
-1.5707963267948966
|
|
</pose>
|
|
<uri>model://pickup</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>hatchback_606</name>
|
|
<pose>
|
|
-17.55
|
|
74.56714590142099
|
|
5.01
|
|
0
|
|
0
|
|
1.5707963267948966
|
|
</pose>
|
|
<uri>model://hatchback</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>hatchback_red_607</name>
|
|
<pose>
|
|
-12.450000000000001
|
|
64.11617020920019
|
|
5.01
|
|
0
|
|
0
|
|
1.5707963267948966
|
|
</pose>
|
|
<uri>model://hatchback_red</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>pickup_608</name>
|
|
<pose>
|
|
42.449999999999996
|
|
82.17653808378716
|
|
5.01
|
|
0
|
|
0
|
|
-1.5707963267948966
|
|
</pose>
|
|
<uri>model://pickup</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pickup_609</name>
|
|
<pose>
|
|
47.550000000000004
|
|
61.78827871275479
|
|
5.01
|
|
0
|
|
0
|
|
-1.5707963267948966
|
|
</pose>
|
|
<uri>model://pickup</uri>
|
|
</include>
|
|
|
|
|
|
|
|
|
|
<include>
|
|
<name>hatchback_red_610</name>
|
|
<pose>
|
|
-38.28359469394081
|
|
-47.550000000000004
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://hatchback_red</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>suv_611</name>
|
|
<pose>
|
|
-30.995013566477972
|
|
-42.449999999999996
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://suv</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>suv_612</name>
|
|
<pose>
|
|
-28.392418415377435
|
|
42.449999999999996
|
|
5.01
|
|
0
|
|
0
|
|
3.141592653589793
|
|
</pose>
|
|
<uri>model://suv</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>hatchback_613</name>
|
|
<pose>
|
|
-35.70297278053215
|
|
47.550000000000004
|
|
5.01
|
|
0
|
|
0
|
|
3.141592653589793
|
|
</pose>
|
|
<uri>model://hatchback</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>hatchback_red_614</name>
|
|
<pose>
|
|
13.550161277951418
|
|
-47.550000000000004
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://hatchback_red</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>hatchback_615</name>
|
|
<pose>
|
|
3.9210049015486064
|
|
-42.449999999999996
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://hatchback</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>suv_616</name>
|
|
<pose>
|
|
4.731505253206375
|
|
42.449999999999996
|
|
5.01
|
|
0
|
|
0
|
|
3.141592653589793
|
|
</pose>
|
|
<uri>model://suv</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>hatchback_blue_617</name>
|
|
<pose>
|
|
32.52218043235088
|
|
47.550000000000004
|
|
5.01
|
|
0
|
|
0
|
|
3.141592653589793
|
|
</pose>
|
|
<uri>model://hatchback_blue</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>hatchback_618</name>
|
|
<pose>
|
|
76.23657454655991
|
|
-47.550000000000004
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://hatchback</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>pickup_619</name>
|
|
<pose>
|
|
77.74172946469213
|
|
-42.449999999999996
|
|
5.01
|
|
0
|
|
0
|
|
0
|
|
</pose>
|
|
<uri>model://pickup</uri>
|
|
</include>
|
|
|
|
|
|
<include>
|
|
<name>suv_620</name>
|
|
<pose>
|
|
71.59968161496802
|
|
42.449999999999996
|
|
5.01
|
|
0
|
|
0
|
|
3.141592653589793
|
|
</pose>
|
|
<uri>model://suv</uri>
|
|
</include>
|
|
|
|
<include>
|
|
<name>hatchback_blue_621</name>
|
|
<pose>
|
|
85.00302163698595
|
|
47.550000000000004
|
|
5.01
|
|
0
|
|
0
|
|
3.141592653589793
|
|
</pose>
|
|
<uri>model://hatchback_blue</uri>
|
|
</include>
|
|
|
|
|
|
|
|
<!-- People -->
|
|
|
|
<actor name="walking_0">
|
|
<!-- Starting pose -->
|
|
<pose>50.2 -94.8 5.76 0 0 1.5707963267948966</pose>
|
|
<skin>
|
|
<filename>model://actor/meshes/SKIN_man_red_shirt.dae</filename>
|
|
</skin>
|
|
<animation name="animation">
|
|
<filename>model://actor/meshes/ANIMATION_walking.dae</filename>
|
|
|
|
<interpolate_x>true</interpolate_x>
|
|
|
|
</animation>
|
|
<script>
|
|
<trajectory id="0" type="animation">
|
|
|
|
<waypoint>
|
|
<time>0</time>
|
|
<pose>50.2 -94.8 5.16 0 0 1.5707963267948966</pose>
|
|
</waypoint>
|
|
|
|
<waypoint>
|
|
<time>7.156125290625094</time>
|
|
<pose>50.2 -85.88 5.16 0 0 1.5707963267948966</pose>
|
|
</waypoint>
|
|
|
|
<waypoint>
|
|
<time>7.871737819687604</time>
|
|
<pose>50.2 -85.88 5.16 0 0 4.71238898038469</pose>
|
|
</waypoint>
|
|
|
|
<waypoint>
|
|
<time>14.312250581250188</time>
|
|
<pose>50.2 -94.8 5.16 0 0 4.71238898038469</pose>
|
|
</waypoint>
|
|
|
|
<waypoint>
|
|
<time>15.027863110312698</time>
|
|
<pose>50.2 -94.8 5.16 0 0 1.5707963267948966</pose>
|
|
</waypoint>
|
|
|
|
</trajectory>
|
|
</script>
|
|
</actor>
|
|
|
|
<actor name="walking_1">
|
|
<!-- Starting pose -->
|
|
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<filename>model://actor/meshes/ANIMATION_talking_b.dae</filename>
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</animation>
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<script>
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<trajectory id="0" type="animation">
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<waypoint>
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<time>100</time>
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<pose>5 5.5 5.16 0 0 0</pose>
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</waypoint>
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<waypoint>
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<time>100</time>
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<pose>5 5.5 5.16 0 0 0</pose>
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</waypoint>
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</trajectory>
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</script>
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</actor>
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<!-- Animated vehicles -->
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<actor name="car_622">
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<pose>-43.15 -90 5.01 0 0 0</pose>
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<include>
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<name>hatchback_red_623</name>
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<pose>
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0
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0
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|
0.0
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|
0
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0
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1.5707963267948966
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</pose>
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<uri>model://hatchback_red</uri>
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</include>
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<script>
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<trajectory id="0" type="animation">
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|
<waypoint>
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<time>0</time>
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<pose>-43.15 -90 5.01 0 0 0</pose>
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</waypoint>
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<waypoint>
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<time>20</time>
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<pose>-43.15 100 5.01 0 0 0</pose>
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</waypoint>
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</trajectory>
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</script>
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</actor>
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<actor name="car_624">
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<pose>-46.85 100 5.01 0 0 3.141592653589793</pose>
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<include>
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<name>pickup_625</name>
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<pose>
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0
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|
0
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|
0.0
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|
0
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|
0
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|
1.5707963267948966
|
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</pose>
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<uri>model://pickup</uri>
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</include>
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<script>
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<trajectory id="0" type="animation">
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<waypoint>
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<time>0</time>
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<pose>-46.85 100 5.01 0 0 3.141592653589793</pose>
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</waypoint>
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|
|
<waypoint>
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<time>43</time>
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<pose>-46.85 -90 5.01 0 0 3.141592653589793</pose>
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</waypoint>
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</trajectory>
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</script>
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</actor>
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<actor name="car_626">
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<pose>-15 -100 5.01 0 0 0</pose>
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<include>
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<name>pickup_627</name>
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<pose>
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0
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0
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0.0
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0
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0
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|
1.5707963267948966
|
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</pose>
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<uri>model://pickup</uri>
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</include>
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<script>
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<trajectory id="0" type="animation">
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|
|
|
<waypoint>
|
|
<time>0</time>
|
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<pose>-15 -100 5.01 0 0 0</pose>
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</waypoint>
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|
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<waypoint>
|
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<time>23</time>
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<pose>-15 100 5.01 0 0 0</pose>
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</waypoint>
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</trajectory>
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</script>
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</actor>
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<actor name="car_628">
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<pose>45 100 5.01 0 0 3.141592653589793</pose>
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<include>
|
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<name>hatchback_629</name>
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|
<pose>
|
|
0
|
|
0
|
|
0.0
|
|
0
|
|
0
|
|
1.5707963267948966
|
|
</pose>
|
|
<uri>model://hatchback</uri>
|
|
</include>
|
|
|
|
<script>
|
|
<trajectory id="0" type="animation">
|
|
|
|
<waypoint>
|
|
<time>0</time>
|
|
<pose>45 100 5.01 0 0 3.141592653589793</pose>
|
|
</waypoint>
|
|
|
|
<waypoint>
|
|
<time>29</time>
|
|
<pose>45 -100 5.01 0 0 3.141592653589793</pose>
|
|
</waypoint>
|
|
|
|
</trajectory>
|
|
</script>
|
|
</actor>
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|
|
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<actor name="car_630">
|
|
<pose>108.15 100 5.01 0 0 3.141592653589793</pose>
|
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<include>
|
|
<name>suv_631</name>
|
|
<pose>
|
|
0
|
|
0
|
|
0.0
|
|
0
|
|
0
|
|
1.5707963267948966
|
|
</pose>
|
|
<uri>model://suv</uri>
|
|
</include>
|
|
|
|
<script>
|
|
<trajectory id="0" type="animation">
|
|
|
|
<waypoint>
|
|
<time>0</time>
|
|
<pose>108.15 100 5.01 0 0 3.141592653589793</pose>
|
|
</waypoint>
|
|
|
|
<waypoint>
|
|
<time>39</time>
|
|
<pose>108.15 -100 5.01 0 0 3.141592653589793</pose>
|
|
</waypoint>
|
|
|
|
</trajectory>
|
|
</script>
|
|
</actor>
|
|
|
|
<actor name="car_632">
|
|
<pose>111.85 100 5.01 0 0 3.141592653589793</pose>
|
|
<include>
|
|
<name>hatchback_633</name>
|
|
<pose>
|
|
0
|
|
0
|
|
0.0
|
|
0
|
|
0
|
|
1.5707963267948966
|
|
</pose>
|
|
<uri>model://hatchback</uri>
|
|
</include>
|
|
|
|
<script>
|
|
<trajectory id="0" type="animation">
|
|
|
|
<waypoint>
|
|
<time>0</time>
|
|
<pose>111.85 100 5.01 0 0 3.141592653589793</pose>
|
|
</waypoint>
|
|
|
|
<waypoint>
|
|
<time>23</time>
|
|
<pose>111.85 -100 5.01 0 0 3.141592653589793</pose>
|
|
</waypoint>
|
|
|
|
</trajectory>
|
|
</script>
|
|
</actor>
|
|
|
|
<actor name="car_634">
|
|
<pose>118.15 -100 5.01 0 0 0</pose>
|
|
<include>
|
|
<name>pickup_635</name>
|
|
<pose>
|
|
0
|
|
0
|
|
0.0
|
|
0
|
|
0
|
|
1.5707963267948966
|
|
</pose>
|
|
<uri>model://pickup</uri>
|
|
</include>
|
|
|
|
<script>
|
|
<trajectory id="0" type="animation">
|
|
|
|
<waypoint>
|
|
<time>0</time>
|
|
<pose>118.15 -100 5.01 0 0 0</pose>
|
|
</waypoint>
|
|
|
|
<waypoint>
|
|
<time>36</time>
|
|
<pose>118.15 100 5.01 0 0 0</pose>
|
|
</waypoint>
|
|
|
|
</trajectory>
|
|
</script>
|
|
</actor>
|
|
|
|
<actor name="car_636">
|
|
<pose>121.85 -100 5.01 0 0 0</pose>
|
|
<include>
|
|
<name>pickup_637</name>
|
|
<pose>
|
|
0
|
|
0
|
|
0.0
|
|
0
|
|
0
|
|
1.5707963267948966
|
|
</pose>
|
|
<uri>model://pickup</uri>
|
|
</include>
|
|
|
|
<script>
|
|
<trajectory id="0" type="animation">
|
|
|
|
<waypoint>
|
|
<time>0</time>
|
|
<pose>121.85 -100 5.01 0 0 0</pose>
|
|
</waypoint>
|
|
|
|
<waypoint>
|
|
<time>41</time>
|
|
<pose>121.85 100 5.01 0 0 0</pose>
|
|
</waypoint>
|
|
|
|
</trajectory>
|
|
</script>
|
|
</actor>
|
|
|
|
|
|
</world>
|
|
</sdf>
|