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Created May 22, 2019 16:41
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ODE Internal Error SDF
Raw
backtrace
#18 Source "/home/michael/workspaces/blueprint2/src/ign-gazebo/src/cmd/ign.cc", line 136, in runServer [0x7f1d57e8b9af]
133: ignition::gazebo::Server server(serverConfig);
134:
135: // Run the server
> 136: server.Run(true, _iterations, _run == 0);
137:
138: igndbg << "Shutting down ign-gazebo-server" << std::endl;
139: return 0;
#17 Source "/home/michael/workspaces/blueprint2/src/ign-gazebo/src/Server.cc", line 241, in ignition::gazebo::v2::Server::Run(bool, unsigned long, bool) [0x7f1d5781d6b8]
238: }
239:
240: if (_blocking)
> 241: return this->dataPtr->Run(_iterations);
242:
243: // Make sure two threads are not created
244: std::unique_lock<std::mutex> lock(this->dataPtr->runMutex);
#16 Source "/home/michael/workspaces/blueprint2/src/ign-gazebo/src/ServerPrivate.cc", line 163, in ignition::gazebo::v2::ServerPrivate::Run(unsigned long, std::optional<std::condition_variable*>) [0x7f1d578219d4]
160: // simulation runner, and we can avoid using the thread pool.
161: if (this->simRunners.size() == 1)
162: {
> 163: result = this->simRunners[0]->Run(_iterations);
164: }
165: else
166: {
#15 Source "/home/michael/workspaces/blueprint2/src/ign-gazebo/src/SimulationRunner.cc", line 461, in ignition::gazebo::v2::SimulationRunner::Run(unsigned long) [0x7f1d578294b2]
458: }
459: else
460: {
> 461: this->Step(this->currentInfo);
462: }
463: }
#14 Source "/home/michael/workspaces/blueprint2/src/ign-gazebo/src/SimulationRunner.cc", line 487, in ignition::gazebo::v2::SimulationRunner::Step(ignition::gazebo::v2::UpdateInfo const&) [0x7f1d57829012]
484: this->ProcessSystemQueue();
485:
486: // Update all the systems.
> 487: this->UpdateSystems();
488:
489: if (!this->Paused() && this->pendingSimIterations > 0)
490: {
#13 Source "/home/michael/workspaces/blueprint2/src/ign-gazebo/src/SimulationRunner.cc", line 338, in ignition::gazebo::v2::SimulationRunner::UpdateSystems() [0x7f1d578250dd]
335: {
336: IGN_PROFILE("Update");
337: for (auto& system : this->systemsUpdate)
> 338: system->Update(this->currentInfo, this->entityCompMgr);
339: }
340:
341: {
#12 Source "/home/michael/workspaces/blueprint2/src/ign-gazebo/src/systems/physics/Physics.cc", line 269, in ignition::gazebo::v2::systems::Physics::Update(ignition::gazebo::v2::UpdateInfo const&, ignition::gazebo::v2::EntityComponentManager&) [0x7f1d2c4cc977]
266: if (!_info.paused)
267: {
268: this->dataPtr->UpdatePhysics(_ecm);
> 269: this->dataPtr->Step(_info.dt);
270: this->dataPtr->UpdateSim(_ecm);
271: }
#11 | Source "/home/michael/workspaces/blueprint2/src/ign-gazebo/src/systems/physics/Physics.cc", line 745, in ignition::gazebo::v2::systems::PhysicsPrivate::Step(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&)
| 743: for (auto &world : this->entityWorldMap)
| 744: {
| > 745: world.second->Step(output, state, input);
| 746: }
| 747: }
Source "/home/michael/workspaces/blueprint2/install/include/ignition/physics1/ignition/physics/ForwardStep.hh", line 162, in ignition::gazebo::v2::systems::PhysicsPrivate::Step(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&) [0x7f1d2c4c795d]
159: {
160: public: void Step(Output &_h, State &_x, const Input &_u)
161: {
> 162: this->template Interface<ForwardStep>()->
163: WorldForwardStep(this->identity, _h, _x, _u);
164: }
165: };
#10 Object "/usr/lib/x86_64-linux-gnu/libdart.so.6.8", at 0x7f1d1e6c7beb, in dart::simulation::World::step(bool)
#9 Object "/usr/lib/x86_64-linux-gnu/libdart.so.6.8", at 0x7f1d1e6a81bd, in dart::constraint::ConstraintSolver::solve()
#8 Object "/usr/lib/x86_64-linux-gnu/libdart.so.6.8", at 0x7f1d1e6a710b, in dart::constraint::ConstraintSolver::updateConstraints()
#7 Object "/usr/lib/x86_64-linux-gnu/libdart.so.6.8", at 0x7f1d1e6654f9, in dart::collision::CollisionGroup::collide(dart::collision::CollisionOption const&, dart::collision::CollisionResult*)
#6 Object "/usr/lib/x86_64-linux-gnu/libdart-collision-ode.so.6.8", at 0x7f1d1ea03545, in dart::collision::OdeCollisionDetector::collide(dart::collision::CollisionGroup*, dart::collision::CollisionOption const&, dart::collision::CollisionResult*)
#5 Object "/usr/lib/x86_64-linux-gnu/libdart.so.6.8", at 0x7f1d1e663030, in dart::collision::CollisionGroup::updateEngineData()
#4 Object "/usr/lib/x86_64-linux-gnu/libdart-collision-ode.so.6.8", at 0x7f1d1ea0625d, in dart::collision::OdeCollisionObject::updateEngineData()
#3 Object "/usr/lib/x86_64-linux-gnu/libode.so.6", at 0x7f1d1d53e3c4, in dBodySetQuaternion
#2 Object "/usr/lib/x86_64-linux-gnu/libode.so.6", at 0x7f1d1d52fcc1, in dDebug
#1 Source "/build/glibc-OTsEL5/glibc-2.27/stdlib/abort.c", line 79, in __GI_abort [0x7f1d5a2cd800]
#0 Source "/build/glibc-OTsEL5/glibc-2.27/signal/../sysdeps/unix/sysv/linux/raise.c", line 51, in __GI_raise [0x7f1d5a2cbe97]
Aborted (Signal sent by tkill() 30404 1000)
Stack trace (most recent call last) in thread 30427:
#0 Object "", at 0x7f1d3008fdf0, in
Segmentation fault (Invalid permissions for mapped object [0x7f1d3008fdf0])
ruby: /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:252: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed.
Raw
spheres_5_5.sdf
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="default">
<plugin
filename="libignition-gazebo-physics-system.so"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="libignition-gazebo-scene-broadcaster-system.so"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>
<gui fullscreen="0">
<!-- 3D scene -->
<plugin filename="Scene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
<engine>ogre</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
<service>/world/default/scene/info</service>
<pose_topic>/world/default/pose/info</pose_topic>
<scene_topic>/world/default/scene/info</scene_topic>
<deletion_topic>/world/default/scene/deletion</deletion_topic>
</plugin>
<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<service>/world/default/control</service>
<stats_topic>/world/default/stats</stats_topic>
</plugin>
<!--World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
<topic>/world/default/stats</topic>
</plugin>
</gui>
<scene>
<ambient>0.8 0.8 0.8 1.0</ambient>
<background>0.34 0.39 0.43 1.0</background>
<grid>false</grid>
<origin_visual>false</origin_visual>
</scene>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>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>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
<emissive>0.8 0.8 0.8 1</emissive>
</material>
</visual>
</link>
</model>
<model name="model_0_0_0">
<pose>-0.011978946907925427 0.009906290604722548 10.0 0.0 0.0 0.0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>
<model name="model_0_0_1">
<pose>0.026595463794829202 0.0008584318403704466 11.1 0.0 0.0 0.0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>
<model name="model_0_0_2">
<pose>-0.021863494329253233 0.04012207473599602 12.2 0.0 0.0 0.0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>
<model name="model_0_0_3">
<pose>-0.02020249258546483 0.039212971639746075 13.3 0.0 0.0 0.0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>
<model name="model_0_0_4">
<pose>0.012116111661895045 -0.03503183470213686 14.4 0.0 0.0 0.0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>
<model name="model_0_1_0">
<pose>0.030693321387902733 1.1274830962877582 10.0 0.0 0.0 0.0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>
<model name="model_0_1_1">
<pose>-0.008619612436701049 1.0956148033870816 11.1 0.0 0.0 0.0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>
<model name="model_0_1_2">
<pose>-0.013888469668698111 1.0859327736750026 12.2 0.0 0.0 0.0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>
<model name="model_0_1_3">
<pose>-0.006630313489466966 1.0502400049985683 13.3 0.0 0.0 0.0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>
<model name="model_0_1_4">
<pose>0.011710728289810027 1.1148558019331265 14.4 0.0 0.0 0.0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>
<model name="model_0_2_0">
<pose>-0.031895467306206335 2.171236374664194 10.0 0.0 0.0 0.0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>
<model name="model_0_2_1">
<pose>-0.01959848143975772 2.1857786664363434 11.1 0.0 0.0 0.0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>
<model name="model_0_2_2">
<pose>0.03199119491735539 2.2071429901044084 12.2 0.0 0.0 0.0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>
<model name="model_0_2_3">
<pose>0.010005044528474852 2.2132634718200657 13.3 0.0 0.0 0.0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_visual">
<geometry>
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<model name="model_4_4_0">
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<sphere>
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<model name="model_4_4_1">
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<sphere>
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<sphere>
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<sphere>
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<model name="model_4_4_3">
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<ixx>1</ixx>
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<collision name="sphere_collision">
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<sphere>
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<sphere>
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</sphere>
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<ambient>1 0 0 1</ambient>
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<model name="model_4_4_4">
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<inertia>
<ixx>1</ixx>
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<collision name="sphere_collision">
<geometry>
<sphere>
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</sphere>
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<visual name="sphere_visual">
<geometry>
<sphere>
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</sphere>
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<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>
</world>
</sdf>
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