mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-12 21:00:11 +00:00
242 lines
7.1 KiB
Plaintext
242 lines
7.1 KiB
Plaintext
<sdf version='1.6'>
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<world name='default'>
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<light name='sun' type='directional'>
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<yunfei>99.2</yunfei>
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<cast_shadows>1</cast_shadows>
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<pose frame=''>0 0 10 0 -0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<model name='ground_plane'>
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<static>1</static>
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<link name='link'>
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<collision name='collision'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<contact>
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<collide_bitmask>65535</collide_bitmask>
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<ode/>
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</contact>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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<torsional>
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<ode/>
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</torsional>
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</friction>
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<bounce/>
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</surface>
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<max_contacts>10</max_contacts>
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</collision>
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<visual name='visual'>
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<cast_shadows>0</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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</model>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type='adiabatic'/>
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<physics name='default_physics' default='0' type='ode'>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>1000</real_time_update_rate>
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</physics>
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>1</shadows>
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</scene>
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<audio>
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<device>default</device>
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</audio>
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<latitude_deg>0</latitude_deg>
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<longitude_deg>0</longitude_deg>
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<elevation>0</elevation>
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<heading_deg>0</heading_deg>
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</spherical_coordinates>
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<model name='unit_box_0'>
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<static>1</static>
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<pose frame=''>0.512455 -1.58317 0.5 0 -0 0</pose>
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<link name='unit_box_0::link'>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.166667</iyy>
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<iyz>0</iyz>
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<izz>0.166667</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>cube.obj</uri>
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</mesh>
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</geometry>
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<material>
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<diffuse>1 1 1 1</diffuse>
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<script>
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<name>Gazebo/Grey</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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</model>
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<model name='unit_box_0_clone'>
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<pose frame=''>0.105158 -4.55002 1.499995 -2.89297 -0.988287 -3.14159</pose>
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<link name='unit_box_0::link'>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.166667</iyy>
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<iyz>0</iyz>
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<izz>0.166667</izz>
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</inertia>
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</inertial>
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<collision name='collision1'>
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>cube.obj</uri>
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</mesh>
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</geometry>
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<material>
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<diffuse>1 1 1 1</diffuse>
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</material>
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</visual>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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</model>
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<state world_name='default'>
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<sim_time>0 0</sim_time>
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<real_time>0 0</real_time>
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<wall_time>1462824251 956472000</wall_time>
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<iterations>0</iterations>
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<model name='ground_plane'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='unit_box_0'>
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<pose frame=''>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
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<scale>1 1 1</scale>
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<link name='unit_box_0::link'>
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<pose frame=''>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
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<velocity>0.004896 3e-06 -0.004891 -6e-06 0.009793 -0</velocity>
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<acceleration>0.010615 0.006191 -9.78231 -0.012424 0.021225 -1.8e-05</acceleration>
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<wrench>0.010615 0.006191 -9.78231 0 -0 0</wrench>
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</link>
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</model>
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<model name='unit_box_0_clone'>
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<pose frame=''>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
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<scale>1 1 1</scale>
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<link name='unit_box_0::link'>
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<pose frame=''>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<light name='sun'>
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<pose frame=''>0 0 10 0 -0 0</pose>
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</light>
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</state>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose frame=''>8.0562 -8.87312 3.07529 0 0.205021 2.5208</pose>
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<view_controller>orbit</view_controller>
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<projection_type>perspective</projection_type>
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</camera>
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</gui>
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</world>
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</sdf>
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