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<sdf version='1.6'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
</model>
<model name='asphalt_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
</model>
<physics name='default_physics' default='0' type='ode'>
<ode>
<solver>
<type>quick</type>
<iters>10</iters>
<sor>1.3</sor>
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.002</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>500</real_time_update_rate>
</physics>
<gravity>0 0 -9.8066</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='asphalt_plane_clone'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>0.013817 -19.9057 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_0'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-0.044763 19.8547 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_1'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>19.9542 19.8571 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_2'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>19.8746 -0.016199 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_3'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>19.9582 -19.9369 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_4'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-19.9909 -19.9252 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_5'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-19.954 0.062585 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_6'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-19.9182 19.9182 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_7'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>40.0111 -19.9805 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_8'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>39.7739 -0.180821 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_9'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>39.7142 19.7483 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_10'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>59.7155 -19.9826 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_11'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>59.5056 -0.554758 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_12'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>59.7223 19.4825 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_13'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>59.6505 -39.9751 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_14'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>39.7473 -39.8277 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_15'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>19.8523 -39.7982 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_16'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-0.244115 -39.7166 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_17'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>-20.1655 -39.5155 0 0 -0 0</pose>
</model>
<model name='asphalt_plane_clone_14_clone'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<box>
<size>20 20 0.1</size>
</box>
</geometry>
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<uri>model://oak_tree/materials/scripts/</uri>
<uri>model://oak_tree/materials/textures/</uri>
<name>OakTree/Branch</name>
</script>
</material>
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<visual name='bark'>
<geometry>
<mesh>
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<submesh>
<name>Bark</name>
</submesh>
</mesh>
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<material>
<script>
<uri>model://oak_tree/materials/scripts/</uri>
<uri>model://oak_tree/materials/textures/</uri>
<name>OakTree/Bark</name>
</script>
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<model name='oak_tree_0_clone_8'>
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<geometry>
<mesh>
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</mesh>
</geometry>
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<surface>
<contact>
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</contact>
<bounce/>
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<ode/>
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</surface>
</collision>
<visual name='branch'>
<geometry>
<mesh>
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<submesh>
<name>Branch</name>
</submesh>
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<material>
<script>
<uri>model://oak_tree/materials/scripts/</uri>
<uri>model://oak_tree/materials/textures/</uri>
<name>OakTree/Branch</name>
</script>
</material>
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<mesh>
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<submesh>
<name>Bark</name>
</submesh>
</mesh>
</geometry>
<material>
<script>
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<uri>model://oak_tree/materials/textures/</uri>
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<model name='apartment'>
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<mesh>
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</mesh>
</geometry>
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<surface>
<contact>
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<ode/>
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<visual name='visual'>
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<model name='brick_box_3x1x3'>
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<collision name='collision'>
<geometry>
<box>
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</box>
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<surface>
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</surface>
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<visual name='visual'>
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<mesh>
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<scale>3 1 3</scale>
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</geometry>
<material>
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</model>
<state world_name='default'>
<sim_time>996 332000000</sim_time>
<real_time>36 844161802</real_time>
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<model name='House 1'>
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<model name='ground_plane'>
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<model name='oak_tree'>
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<model name='oak_tree_0'>
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<view_controller>orbit</view_controller>
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</sdf>