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jasmeet0915jasmeet0915
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Updated world to latest standards (space-ros#46)
Signed-off-by: Jasmeet Singh <[email protected]>
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‎mars_rover/worlds/mars_curiosity.world

+237-47
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@@ -1,65 +1,255 @@
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<?xml version="1.0" ?>
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<sdf version="1.11">
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<world name="default">
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<gui fullscreen="0">
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<world name="default">
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<physics name="1ms" type="ignored">
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<plugin
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filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin>
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<plugin
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filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin
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filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<plugin
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filename="gz-sim-sensors-system"
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name="gz::sim::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<plugin filename="GzScene3D" name="3D View">
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<gui fullscreen="0">
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<plugin filename="MinimalScene" name="3D View">
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<gz-gui>
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<title>3D View</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="string" key="state">docked</property>
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<title>3D View</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="string" key="state">docked</property>
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</gz-gui>
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<engine>ogre2</engine>
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<scene>scene</scene>
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<background_color>0.9 0.753 0.66</background_color>
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<camera_pose>-5.0 0.0 -6.0 0.0 0.0 0.0</camera_pose>
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<ambient_light>0.4 0.4 0.4</ambient_light>
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<background_color>0.8 0.8 0.8</background_color>
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<camera_pose>-6 0 6 0 0.5 0</camera_pose>
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</plugin>
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<!-- Plugins that add functionality to the scene -->
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<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
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<gz-gui>
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<property key="state" type="string">floating</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="GzSceneManager" name="Scene Manager">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="InteractiveViewControl" name="Interactive view control">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="CameraTracking" name="Camera Tracking">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="MarkerManager" name="Marker manager">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="ImageDisplay" name="Image Display">
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<plugin filename="SelectEntities" name="Select Entities">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="Spawn" name="Spawn Entities">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<!-- World control -->
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<plugin filename="WorldControl" name="World control">
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<gz-gui>
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<property key="state" type="string">floating</property>
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<title>World control</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="bool" key="resizable">false</property>
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<property type="double" key="height">72</property>
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<property type="double" key="z">1</property>
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<property type="string" key="state">floating</property>
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<anchors target="3D View">
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<line own="left" target="left"/>
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<line own="bottom" target="bottom"/>
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</anchors>
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</gz-gui>
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</plugin>
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</gui>
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<server_config>
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<plugins>
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<plugin entity_name="*"
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entity_type="world"
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filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<plugin entity_name="*"
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entity_type="world"
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filename="gz-sim-sensors-system"
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name="gz::sim::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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</plugins>
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</server_config>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>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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<play_pause>true</play_pause>
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<step>true</step>
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<start_paused>true</start_paused>
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<use_event>true</use_event>
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</plugin>
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<!-- World statistics -->
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<plugin filename="WorldStats" name="World stats">
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<gz-gui>
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<title>World stats</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="bool" key="resizable">false</property>
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<property type="double" key="height">110</property>
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<property type="double" key="width">290</property>
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<property type="double" key="z">1</property>
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<property type="string" key="state">floating</property>
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<anchors target="3D View">
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<line own="right" target="right"/>
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<line own="bottom" target="bottom"/>
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</anchors>
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</gz-gui>
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<sim_time>true</sim_time>
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<real_time>true</real_time>
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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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<!-- Insert simple shapes -->
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<plugin filename="Shapes" name="Shapes">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="x" type="double">0</property>
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<property key="y" type="double">0</property>
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<property key="width" type="double">250</property>
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<property key="height" type="double">50</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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<property key="cardBackground" type="string">#666666</property>
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</gz-gui>
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</plugin>
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<!-- Insert lights -->
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<plugin filename="Lights" name="Lights">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="x" type="double">250</property>
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<property key="y" type="double">0</property>
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<property key="width" type="double">150</property>
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<property key="height" type="double">50</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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<property key="cardBackground" type="string">#666666</property>
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</gz-gui>
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</plugin>
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<!-- Translate / rotate -->
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<plugin filename="TransformControl" name="Transform control">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="x" type="double">0</property>
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<property key="y" type="double">50</property>
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<property key="width" type="double">250</property>
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<property key="height" type="double">50</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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<property key="cardBackground" type="string">#777777</property>
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</gz-gui>
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</plugin>
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<!-- Inspector -->
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<plugin filename="ComponentInspector" name="Component inspector">
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<gz-gui>
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<property type="bool" key="showTitleBar">false</property>
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<property type="string" key="state">docked</property>
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</gz-gui>
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</plugin>
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<!-- Entity tree -->
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<plugin filename="EntityTree" name="Entity tree">
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<gz-gui>
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<property type="bool" key="showTitleBar">false</property>
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<property type="string" key="state">docked</property>
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</gz-gui>
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</plugin>
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<!-- Image Display -->
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<plugin filename="ImageDisplay" name="Image Display">
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<gz-gui>
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<property type="bool" key="showTitleBar">false</property>
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<property type="string" key="state">docked</property>
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</gz-gui>
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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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<pose>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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<!-- Martian Gravity-->
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<gravity>0 0 -3.711</gravity>
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<gravity>0 0 -3.711</gravity>
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<include>
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<uri>/home/spaceros-user/demos_ws/install/simulation/share/simulation/models/curiosity_path</uri>
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<name>curiosity_path</name>
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<pose>0 0 0 0 0 0</pose>
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</include>
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<include>
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<uri>/home/spaceros-user/demos_ws/install/simulation/share/simulation/models/curiosity_path</uri>
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<name>curiosity_path</name>
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<pose>0 0 0 0 0 0</pose>
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</include>
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</world>
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</sdf>

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