update poses, add camera to urdf and add bridge
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73d3c61b8b
commit
4371dbdcee
3 changed files with 25 additions and 243 deletions
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@ -45,7 +45,7 @@ def generate_launch_description():
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declared_arguments.append(
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DeclareLaunchArgument(
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"controllers_file",
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default_value="ur_controllers.yaml",
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default_value="ur_plus_gripper_controllers.yaml",
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description="YAML file with the controllers configuration.",
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)
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)
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@ -68,11 +68,27 @@ def generate_launch_description():
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executable="env_manager_node",
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condition=IfCondition(env_manager_cond)
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)
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# Bridge
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rgbd_bridge_out = Node(
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package='ros_gz_bridge',
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executable='parameter_bridge',
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arguments=[
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'/outer_rgbd_camera/image@sensor_msgs/msg/Image@gz.msgs.Image',
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'/outer_rgbd_camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo',
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'/outer_rgbd_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image',
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'/outer_rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'
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],
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output='screen',
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)
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nodes_to_start = [
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gazebo,
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gazebo_server,
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gazebo_spawn_robot,
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env_manager
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env_manager,
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rgbd_bridge_out
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]
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return LaunchDescription(declared_arguments + nodes_to_start)
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@ -54,29 +54,6 @@
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<real_time_factor>true</real_time_factor>
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<iterations>true</iterations>
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</plugin>
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<plugin filename="ImageDisplay" name="Image Display 3">
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<ignition-gui>
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<title>RGBD: image</title>
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<property key="state" type="string">floating</property>
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<property type="double" key="width">350</property>
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<property type="double" key="height">315</property>
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<property type="double" key="y">320</property>
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</ignition-gui>
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<topic>rgbd_camera/image</topic>
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<topic_picker>false</topic_picker>
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</plugin>
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<plugin filename="ImageDisplay" name="Image Display 3">
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<ignition-gui>
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<title>RGBD: depth</title>
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<property key="state" type="string">floating</property>
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<property type="double" key="width">350</property>
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<property type="double" key="height">315</property>
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<property type="double" key="x">500</property>
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<property type="double" key="y">320</property>
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</ignition-gui>
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<topic>rgbd_camera/depth_image</topic>
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<topic_picker>false</topic_picker>
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</plugin>
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</gui>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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@ -116,247 +93,36 @@
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</visual>
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</link>
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</model>
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<model name='rack'>
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<pose>0 0.7 0 0 0 0</pose>
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<static>1</static>
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<link name='body'>
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<visual name='visual'>
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<geometry>
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<mesh>
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<scale>0.35 0.35 0.35</scale>
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<uri>model://rack/model/rack.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name='collision'>
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<geometry>
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<mesh>
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<scale>0.35 0.35 0.35</scale>
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<uri>model://rack/model/rack.stl</uri>
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</mesh>
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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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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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</link>
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</model>
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<model name='table'>
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<pose>-0.75 0 0.2 0 0 0</pose>
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<static>1</static>
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<link name='telo'>
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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>model://table/model/table.dae</uri>
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</mesh> -->
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<box>
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<size>0.8 0.8 0.4</size>
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</box>
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</geometry>
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<material>
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<ambient>0.8 0.8 0.8 1</ambient>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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</material>
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</visual>
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<collision name='collision'>
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<geometry>
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<!-- <mesh>
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<scale>1 1 1</scale>
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<uri>model://table/model/table.stl</uri>
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</mesh> -->
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<box>
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<size>0.8 0.8 0.4</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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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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</link>
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</model>
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<!-- Manipulating objects -->
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<include>
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<uri>model://box1</uri>
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<name>box1</name>
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<pose>0.25 0.65 0.6515 0 0 0</pose>
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<pose>0.25 0.65 0.025 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box2</name>
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<pose>0 0.65 0.6515 0 0 0</pose>
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<pose>0 0.65 0.025 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box3</name>
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<pose>-0.25 0.65 0.6515 0 0 0</pose>
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<pose>-0.25 0.65 0.025 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box4</name>
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<pose>0.25 0.65 0.3015 0 0 0</pose>
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<pose>0.25 0.75 0.025 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box5</name>
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<pose>0 0.65 0.3015 0 0 0</pose>
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<pose>0 0.75 0.025 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box6</name>
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<pose>-0.25 0.65 0.3015 0 0 0</pose>
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<pose>-0.25 0.75 0.025 0 0 0</pose>
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</include>
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<!-- <include>
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<uri>model://box1</uri>
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<name>pyramid1</name>
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<pose>-0.9000 -0.05 0.5250 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>pyramid2</name>
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<pose>-0.9000 0.0 0.5250 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>pyramid3</name>
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<pose>-0.9000 0.05 0.5250 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>pyramid4</name>
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<pose>-0.9 -0.0243 0.5750 0 -0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>pyramid5</name>
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<pose>-0.9 0.0260 0.5750 0 -0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>pyramid6</name>
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<pose>-0.9 0 0.6250 0 0 0</pose>
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</include> -->
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<model name="camera">
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<static>1</static>
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<pose>-2.0 -0.55 1.44 0 0.44 0.44</pose>
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<link name="link">
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<pose>0.05 0.05 0.05 0 0 0</pose>
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<inertial>
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<mass>0.1</mass>
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<inertia>
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<ixx>0.000166667</ixx>
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<iyy>0.000166667</iyy>
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<izz>0.000166667</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>0.1 0.1 0.1</size>
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</box>
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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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<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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</visual>
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<sensor name="camera" type="camera">
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<camera>
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<horizontal_fov>1.047</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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</image>
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<clip>
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<near>0.1</near>
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<far>100</far>
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</clip>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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<topic>camera</topic>
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</sensor>
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</link>
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</model>
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<!-- <model name="rgbd_camera">
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<static>1</static>
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<pose>0 0.3 0.7 0 0.0 1.57</pose>
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<link name="link">
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<pose>0.0 0.0 0.0 0 0 0</pose>
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<inertial>
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<mass>0.1</mass>
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<inertia>
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<ixx>0.000166667</ixx>
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<iyy>0.000166667</iyy>
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<izz>0.000166667</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>0.1 0.1 0.1</size>
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</box>
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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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<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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</visual>
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<sensor name="rgbd_camera" type="rgbd_camera">
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<camera>
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<horizontal_fov>1.047</horizontal_fov>
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<image>
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<width>320</width>
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<height>240</height>
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</image>
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<clip>
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<near>0.1</near>
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<far>100</far>
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</clip>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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<topic>rgbd_camera</topic>
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<enable_metrics>true</enable_metrics>
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</sensor>
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</link>
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</model> -->
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</world>
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</sdf>
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