216 lines
7.4 KiB
XML
216 lines
7.4 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.6">
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<world name="empty">
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<plugin
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filename="ignition-gazebo-physics-system"
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name="ignition::gazebo::systems::Physics">
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</plugin>
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<plugin
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filename="ignition-gazebo-user-commands-system"
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name="ignition::gazebo::systems::UserCommands">
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</plugin>
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<plugin
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filename="ignition-gazebo-scene-broadcaster-system"
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name="ignition::gazebo::systems::SceneBroadcaster">
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</plugin>
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<plugin
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filename="ignition-gazebo-contact-system"
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name="ignition::gazebo::systems::Contact">
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</plugin>
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<plugin
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filename="ignition-gazebo-sensors-system"
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name="ignition::gazebo::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<gui fullscreen="0">
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<!-- 3D scene -->
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<plugin filename="MinimalScene" name="3D View">
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<ignition-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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</ignition-gui>
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<engine>ogre2</engine>
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<scene>scene</scene>
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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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<ignition-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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</ignition-gui>
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</plugin>
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<plugin filename="GzSceneManager" name="Scene Manager">
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<ignition-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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</ignition-gui>
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</plugin>
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<plugin filename="InteractiveViewControl" name="Interactive view control">
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<ignition-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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</ignition-gui>
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</plugin>
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<plugin filename="CameraTracking" name="Camera Tracking">
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<ignition-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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</ignition-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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<ignition-gui>
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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="width">121</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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</ignition-gui>
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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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<ignition-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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</ignition-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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<!-- Inspector -->
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<plugin filename="ComponentInspector" name="Component inspector">
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<ignition-gui>
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<property type="string" key="state">docked_collapsed</property>
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</ignition-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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<ignition-gui>
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<property type="string" key="state">docked_collapsed</property>
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</ignition-gui>
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</plugin>
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<!-- Image Display Plugins for visualization -->
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<plugin filename="ImageDisplay" name="Segmentation Image Display">
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<ignition-gui>
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</ignition-gui>
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<topic>semantic/colored_map</topic>
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</plugin>
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<!-- Image Display Plugins for visualization -->
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<plugin filename="ImageDisplay" name="Boundingbox Image Display">
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<ignition-gui>
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</ignition-gui>
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<topic>box_image</topic>
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</plugin>
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</gui>
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<light type="directional" name="sun">
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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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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<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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<plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
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<label>40</label>
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</plugin>
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</visual>
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</link>
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</model>
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<model name="blue_cone">
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<static>true</static>
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<link name="link">
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<pose>0 0 0 0 0 0</pose>
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<visual name="visual">
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<geometry>
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<mesh><uri>model://assets/blue_cone.dae</uri></mesh>
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</geometry>
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<laser_retro>
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100
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</laser_retro>
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<plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
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<label>5</label>
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</plugin>
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</visual>
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</link>
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</model>
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</world>
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</sdf> |