1326 lines
38 KiB
Plaintext
1326 lines
38 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="Starting Pen">
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<static>true</static>
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<link name="link">
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<collision name="wall_01">
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<pose>-0.0 0 2.14 0 0 0</pose>
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<geometry>
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<box>
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<size>12.15 0.31 4.28</size>
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</box>
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</geometry>
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</collision>
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<collision name="wall_02">
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<pose>-5.28 14.3205 2.14 0 0 0</pose>
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<geometry>
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<box>
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<size>14.8 0.46 4.28</size>
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</box>
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</geometry>
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</collision>
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<collision name="wall_03">
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<pose>-5.91 5.0 2.14 0 0 0</pose>
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<geometry>
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<box>
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<size>0.385 10.3 4.28</size>
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</box>
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</geometry>
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</collision>
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<collision name="wall_04">
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<pose>5.91 5.161 2.14 0 0 0</pose>
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<geometry>
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<box>
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<size>0.385 10.66 4.28</size>
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</geometry>
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</collision>
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<collision name="wall_05">
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</geometry>
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</collision>
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<collision name="wall_06">
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<pose>-4.0 9.95 2.14 0 0 0</pose>
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<geometry>
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<box>
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</box>
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</geometry>
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</collision>
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<collision name="wall_07">
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<pose>1.94 12.3 2.14 0 0 0</pose>
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<geometry>
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<box>
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<size>0.45 4.5 4.28</size>
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</box>
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</geometry>
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</collision>
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<collision name="wall_arrow">
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<pose>-0.232 14.03 2.46 0 0 0</pose>
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<box>
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<size>3.33 0.12 1.16</size>
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</geometry>
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</collision>
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<collision name="collision_floor">
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<pose>-3.21 7.355 0 0 0 0</pose>
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<geometry>
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<box>
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<size>20 16 0.01</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual_osrf">
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<pose>-5.74 4.99 3 0 0 0</pose>
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<geometry>
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<box>
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<size>0.01 6 1.0</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://starting_pen/materials/scripts</uri>
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<uri>model://starting_pen/materials/textures</uri>
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<name>StartingPen/OSRF</name>
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</script>
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</material>
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</visual>
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<visual name="visual_osrf_2">
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<pose>5.74 4.99 3 0 0 0</pose>
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<geometry>
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<box>
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<size>0.01 6 1.0</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://starting_pen/materials/scripts</uri>
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<uri>model://starting_pen/materials/textures</uri>
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<name>StartingPen/OSRF</name>
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</script>
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</material>
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</visual>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://starting_pen/meshes/starting_pen.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<visual name="visual_floor_0">
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<pose>-12.21 0.35 0 0 0 0</pose>
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<geometry>
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<box>
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<size>2 2 0.01</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://starting_pen/materials/scripts</uri>
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<uri>model://starting_pen/materials/textures</uri>
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<name>StartingPen/Floor</name>
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</script>
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</material>
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</visual>
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<visual name="visual_floor_1">
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<pose>-10.21 0.35 0 0 0 0</pose>
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<geometry>
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<box>
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<size>2 2 0.01</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://starting_pen/materials/scripts</uri>
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<uri>model://starting_pen/materials/textures</uri>
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<name>StartingPen/Floor</name>
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</script>
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</material>
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</visual>
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<visual name="visual_floor_2">
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<pose>-8.21 0.35 0 0 0 0</pose>
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<geometry>
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<box>
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<size>2 2 0.01</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://starting_pen/materials/scripts</uri>
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<uri>model://starting_pen/materials/textures</uri>
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<name>StartingPen/Floor</name>
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</script>
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</material>
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</visual>
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<visual name="visual_floor_3">
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<pose>-6.21 0.35 0 0 0 0</pose>
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<geometry>
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<box>
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<size>2 2 0.01</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://starting_pen/materials/scripts</uri>
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<uri>model://starting_pen/materials/textures</uri>
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<name>StartingPen/Floor</name>
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</script>
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</material>
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</visual>
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<visual name="visual_floor_4">
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<pose>-4.21 0.35 0 0 0 0</pose>
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<geometry>
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<box>
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<size>2 2 0.01</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://starting_pen/materials/scripts</uri>
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<uri>model://starting_pen/materials/textures</uri>
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<name>StartingPen/Floor</name>
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</script>
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</material>
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</visual>
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<visual name="visual_floor_5">
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<pose>-2.21 0.35 0 0 0 0</pose>
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<geometry>
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<box>
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<size>2 2 0.01</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://starting_pen/materials/scripts</uri>
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<uri>model://starting_pen/materials/textures</uri>
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<name>StartingPen/Floor</name>
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</script>
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</material>
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</visual>
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<visual name="visual_floor_6">
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<pose>-0.21 0.35 0 0 0 0</pose>
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<geometry>
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<box>
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<size>2 2 0.01</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://starting_pen/materials/scripts</uri>
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<uri>model://starting_pen/materials/textures</uri>
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||
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<name>StartingPen/Floor</name>
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</script>
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</material>
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</visual>
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<visual name="visual_floor_7">
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<pose>1.79 0.35 0 0 0 1.5707</pose>
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<geometry>
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<box>
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<size>2 2 0.01</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://starting_pen/materials/scripts</uri>
|
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<uri>model://starting_pen/materials/textures</uri>
|
||
|
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<name>StartingPen/FloorStripped</name>
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||
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</script>
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</material>
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</visual>
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<visual name="visual_floor_8">
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<pose>3.79 0.35 0 0 0 0</pose>
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<geometry>
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<box>
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<size>2 2 0.01</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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|
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<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
||
|
|
</script>
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||
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</material>
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</visual>
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<visual name="visual_floor_9">
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<pose>5.79 0.35 0 0 0 0</pose>
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<geometry>
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<box>
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<size>2 2 0.01</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
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|
|
</script>
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</material>
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</visual>
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<visual name="visual_floor_10">
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<pose>-12.21 2.35 0 0 0 1.5707</pose>
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<geometry>
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<box>
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<size>2 2 0.01</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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||
|
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<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/FloorStripped</name>
|
||
|
|
</script>
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</material>
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</visual>
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<visual name="visual_floor_11">
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<pose>-10.21 2.35 0 0 0 0</pose>
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<geometry>
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<box>
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<size>2 2 0.01</size>
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</box>
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</geometry>
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<material>
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<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
||
|
|
</script>
|
||
|
|
</material>
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|
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</visual>
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<visual name="visual_floor_12">
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<pose>-8.21 2.35 0 0 0 0</pose>
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<geometry>
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<box>
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<size>2 2 0.01</size>
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</box>
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</geometry>
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<material>
|
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|
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<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
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|
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</visual>
|
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<visual name="visual_floor_13">
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<pose>-6.21 2.35 0 0 0 0</pose>
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<geometry>
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<box>
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<size>2 2 0.01</size>
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</box>
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</geometry>
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<material>
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<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
||
|
|
</script>
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||
|
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</material>
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</visual>
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||
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<visual name="visual_floor_14">
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<pose>-4.21 2.35 0 0 0 0</pose>
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<geometry>
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<box>
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<size>2 2 0.01</size>
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</box>
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</geometry>
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<material>
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||
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<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
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<visual name="visual_floor_15">
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<pose>-2.21 2.35 0 0 0 0</pose>
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<geometry>
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<box>
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<size>2 2 0.01</size>
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|
|
</box>
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|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name="visual_floor_16">
|
||
|
|
<pose>-0.21 2.35 0 0 0 1.5707</pose>
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<geometry>
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<box>
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<size>2 2 0.01</size>
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</box>
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</geometry>
|
||
|
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<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/FloorStripped</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name="visual_floor_17">
|
||
|
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<pose>1.79 2.35 0 0 0 1.5707</pose>
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<geometry>
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<box>
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<size>2 2 0.01</size>
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</box>
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</geometry>
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<material>
|
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<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
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|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
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|
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|
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<uri>model://starting_pen/materials/scripts</uri>
|
||
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|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
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|
|
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<uri>model://starting_pen/materials/scripts</uri>
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<uri>model://starting_pen/materials/textures</uri>
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||
|
|
<name>StartingPen/Floor</name>
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<uri>model://starting_pen/materials/scripts</uri>
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<uri>model://starting_pen/materials/textures</uri>
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||
|
|
<name>StartingPen/Floor</name>
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|
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<uri>model://starting_pen/materials/scripts</uri>
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||
|
|
<name>StartingPen/FloorStripped</name>
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|
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<uri>model://starting_pen/materials/scripts</uri>
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|
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<name>StartingPen/Floor</name>
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|
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<uri>model://starting_pen/materials/scripts</uri>
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<name>StartingPen/Floor</name>
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|
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<uri>model://starting_pen/materials/scripts</uri>
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<name>StartingPen/Floor</name>
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<uri>model://starting_pen/materials/scripts</uri>
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|
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<uri>model://starting_pen/materials/scripts</uri>
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|
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<uri>model://starting_pen/materials/scripts</uri>
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|
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<uri>model://starting_pen/materials/scripts</uri>
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<name>StartingPen/Floor</name>
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|
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<uri>model://starting_pen/materials/scripts</uri>
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<name>StartingPen/Floor</name>
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|
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<uri>model://starting_pen/materials/scripts</uri>
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|
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|
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|
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|
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<uri>model://starting_pen/materials/scripts</uri>
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|
|
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|
|
<name>StartingPen/Floor</name>
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|
|
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|
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|
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|
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|
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<script>
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|
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<uri>model://starting_pen/materials/scripts</uri>
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|
|
<uri>model://starting_pen/materials/textures</uri>
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|
|
<name>StartingPen/FloorStripped</name>
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|
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|
|
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|
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|
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<uri>model://starting_pen/materials/scripts</uri>
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||
|
|
<uri>model://starting_pen/materials/textures</uri>
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|
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<name>StartingPen/Floor</name>
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|
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<script>
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|
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<uri>model://starting_pen/materials/scripts</uri>
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||
|
|
<uri>model://starting_pen/materials/textures</uri>
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||
|
|
<name>StartingPen/Floor</name>
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|
|
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|
|
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|
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|
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|
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<uri>model://starting_pen/materials/scripts</uri>
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||
|
|
<uri>model://starting_pen/materials/textures</uri>
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||
|
|
<name>StartingPen/Floor</name>
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|
|
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|
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||
|
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|
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<uri>model://starting_pen/materials/scripts</uri>
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||
|
|
<uri>model://starting_pen/materials/textures</uri>
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|
|
<name>StartingPen/Floor</name>
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|
|
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|
|
<uri>model://starting_pen/materials/scripts</uri>
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||
|
|
<uri>model://starting_pen/materials/textures</uri>
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|
|
<name>StartingPen/Floor</name>
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|
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|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
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||
|
|
<name>StartingPen/Floor</name>
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||
|
|
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||
|
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<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/FloorStripped</name>
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||
|
|
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||
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|
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||
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|
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||
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|
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|
||
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||
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|
|
<size>2 2 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name="visual_floor_70">
|
||
|
|
<pose>-12.21 14.35 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>2 2 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name="visual_floor_71">
|
||
|
|
<pose>-10.21 14.35 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>2 2 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name="visual_floor_72">
|
||
|
|
<pose>-8.21 14.35 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>2 2 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name="visual_floor_73">
|
||
|
|
<pose>-6.21 14.35 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>2 2 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name="visual_floor_74">
|
||
|
|
<pose>-4.21 14.35 0 0 0 1.5707</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>2 2 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/FloorStripped</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name="visual_floor_75">
|
||
|
|
<pose>-2.21 14.35 0 0 0 1.5707</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>2 2 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name="visual_floor_76">
|
||
|
|
<pose>-0.21 14.35 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>2 2 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name="visual_floor_77">
|
||
|
|
<pose>1.79 14.35 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>2 2 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name="visual_floor_78">
|
||
|
|
<pose>3.79 14.35 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>2 2 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/FloorStripped</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name="visual_floor_79">
|
||
|
|
<pose>5.79 14.35 0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>2 2 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://starting_pen/materials/scripts</uri>
|
||
|
|
<uri>model://starting_pen/materials/textures</uri>
|
||
|
|
<name>StartingPen/Floor</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
</sdf>
|