add bio follower function (finish)
parent
9a1f60e5af
commit
83faefde1a
@ -0,0 +1,24 @@
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{
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"configurations": [
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{
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"browse": {
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"databaseFilename": "${default}",
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"limitSymbolsToIncludedHeaders": false
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},
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"includePath": [
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"/home/dodo/ardupilot_ws/devel/include/**",
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"/opt/ros/noetic/include/**",
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"/home/dodo/ardupilot_ws/src/ROS_controll/include/**",
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"/home/dodo/ardupilot_ws/src/class_model/include/**",
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"/home/dodo/ardupilot_ws/src/iq_gnc/include/**",
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"/usr/include/**"
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],
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"name": "ROS",
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"intelliSenseMode": "gcc-x64",
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"compilerPath": "/usr/bin/gcc",
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"cStandard": "gnu11",
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"cppStandard": "c++14"
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}
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],
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"version": 4
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}
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@ -0,0 +1,10 @@
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{
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"python.autoComplete.extraPaths": [
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"/home/dodo/ardupilot_ws/devel/lib/python3/dist-packages",
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"/opt/ros/noetic/lib/python3/dist-packages"
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],
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"python.analysis.extraPaths": [
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"/home/dodo/ardupilot_ws/devel/lib/python3/dist-packages",
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"/opt/ros/noetic/lib/python3/dist-packages"
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]
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}
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@ -0,0 +1,186 @@
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<?xml version="1.0"?>
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<sdf version="1.5">
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<world name="default">
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<physics type="ode">
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<ode>
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<solver>
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<type>quick</type>
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<iters>100</iters>
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<sor>1.0</sor>
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</solver>
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<constraints>
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<cfm>0.0</cfm>
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<erp>0.9</erp>
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<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
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<contact_surface_layer>0.0</contact_surface_layer>
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</constraints>
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</ode>
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<real_time_update_rate>-1</real_time_update_rate>
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</physics>
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<scene>
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<ambient>0.0 0.0 0.0 1.0</ambient>
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<shadows>0</shadows>
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</scene>
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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>5000 5000</size>
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</plane>
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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>1</mu>
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<mu2>1</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="runway">
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<pose>000 0 0.005 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>1829 45</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Runway</name>
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</script>
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</material>
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</visual>
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<visual name="grass">
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<pose>0 0 -0.1 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>5000 5000</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grass</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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<include>
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<uri>model://sun</uri>
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</include>
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<model name="drone1">
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<pose> 0 0 0 0 0 0</pose>
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<include>
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<uri>model://drone1</uri>
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</include>
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</model>
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<model name="drone2">
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<pose> 0 5 0 0 0 0</pose>
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<include>
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<uri>model://drone2</uri>
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</include>
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</model>
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<model name="drone3">
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<pose> 0 -5 0 0 0 0</pose>
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<include>
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<uri>model://drone3</uri>
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</include>
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</model>
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<!-- <model name="tree">
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<pose> 5 -10 0 0 0 3.14</pose>
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<include>
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<uri>model://oak_tree</uri>
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</include>
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</model> -->
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<plugin name='wind_plugin' filename='libgazebo_wind_plugin.so'>
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<frameId>base_link</frameId>
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<robotNamespace/>
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<windVelocityMean>4.0</windVelocityMean>
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<windVelocityMax>20.0</windVelocityMax>
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<windVelocityVariance>0</windVelocityVariance>
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<windDirectionMean>0 1 0</windDirectionMean>
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<windDirectionVariance>0</windDirectionVariance>
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<windGustStart>0</windGustStart>
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<windGustDuration>0</windGustDuration>
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<windGustVelocityMean>0</windGustVelocityMean>
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<windGustVelocityMax>20.0</windGustVelocityMax>
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<windGustVelocityVariance>0</windGustVelocityVariance>
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<windGustDirectionMean>1 0 0</windGustDirectionMean>
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<windGustDirectionVariance>0</windGustDirectionVariance>
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<windPubTopic>world_wind</windPubTopic>
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</plugin>
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<!--<model name="drone4">
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<pose> 5 0 0 0 0 4.71</pose>
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<include>
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<uri>model://drone4</uri>
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</include>
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</model>
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<model name="drone5">
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<pose> 6 0 0 0 0 0</pose>
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<include>
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<uri>model://drone5</uri>
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</include>
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</model>
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<model name="drone6">
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<pose> 6 2 0 0 0 0</pose>
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<include>
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<uri>model://drone6</uri>
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</include>
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</model>
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<model name="drone7">
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<pose> 8 0 0 0 0 0</pose>
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<include>
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<uri>model://drone7</uri>
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</include>
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</model>
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<model name="drone8">
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<pose> 8 2 0 0 0 0</pose>
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<include>
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<uri>model://drone8</uri>
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</include>
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</model>
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<model name="drone9">
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<pose> 12 0 0 0 0 0</pose>
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<include>
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<uri>model://drone9</uri>
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</include>
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</model>
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<model name="drone10">
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<pose> 12 2 0 0 0 0</pose>
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<include>
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<uri>model://drone10</uri>
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</include>
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</model>
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<model name="drone11">
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<pose> 14 0 0 0 0 0</pose>
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<include>
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<uri>model://drone11</uri>
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</include>
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</model>
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<model name="drone12">
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<pose> 14 2 0 0 0 0</pose>
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<include>
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<uri>model://drone12</uri>
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</include>
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</model> -->
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</world>
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</sdf>
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