91 lines
2.5 KiB
XML
91 lines
2.5 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="stop_light">
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<static>true</static>
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<!-- this pose can be overriden when including the light on another model -->
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<pose>0 0 1.0 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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<mesh>
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<uri>model://stop_light/meshes/stop_light.obj</uri>
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<scale>0.01 0.01 0.01</scale>
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</mesh>
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</geometry>
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</collision>
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<visual name="frame">
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<geometry>
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<mesh>
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<uri>model://stop_light/meshes/stop_light.obj</uri>
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<scale>0.01 0.01 0.01</scale>
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</mesh>
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</geometry>
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</visual>
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<visual name="red">
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<pose>-0.001123 -0.082251 -0.147514 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.1012</radius>
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</sphere>
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</geometry>
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<material>
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<script>
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<uri>model://stop_light/materials/scripts/</uri>
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<uri>model://stop_light/materials/textures/</uri>
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<name>StopLight/Light</name>
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</script>
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<ambient>1 0 0 1</ambient>
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<specular>1 0 0 1</specular>
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<!-- Turn a light on by uncommenting emissive -->
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<!--emissive>1 0 0 1</emissive-->
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</material>
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</visual>
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<visual name="yellow">
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<pose>-0.001123 -0.082251 -0.402 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.1012</radius>
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</sphere>
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</geometry>
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<material>
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<script>
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<uri>model://stop_light/materials/scripts/</uri>
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<uri>model://stop_light/materials/textures/</uri>
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<name>StopLight/Light</name>
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</script>
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<ambient>1 1 0 1</ambient>
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<specular>1 1 0 1</specular>
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<!--emissive>1 1 0 1</emissive-->
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</material>
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</visual>
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<visual name="green">
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<pose>-0.001123 -0.082251 -0.655 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.1012</radius>
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</sphere>
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</geometry>
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<material>
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<script>
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<uri>model://stop_light/materials/scripts/</uri>
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<uri>model://stop_light/materials/textures/</uri>
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<name>StopLight/Light</name>
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</script>
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<ambient>0 1 0 1</ambient>
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<specular>0 1 0 1</specular>
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<!--emissive>0 1 0 1</emissive-->
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</material>
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</visual>
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</link>
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</model>
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</sdf>
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