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Merge branch 'ign-gazebo6' into arjo/fix/qol_buoyancy
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‎CMakeLists.txt

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@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
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#============================================================================
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# Initialize the project
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#============================================================================
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project(ignition-gazebo6 VERSION 6.4.0)
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project(ignition-gazebo6 VERSION 6.5.0)
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#============================================================================
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# Find ignition-cmake

‎Changelog.md

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### Ignition Gazebo 6.X.X (202X-XX-XX)
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### Ignition Gazebo 6.5.0 (202X-XX-XX)
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1. New trajectory follower system
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* [Pull request #1332](https://github.com/ignitionrobotics/ign-gazebo/pull/1332)
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1. Extend ShaderParam system to support textures
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* [Pull request #1310](https://github.com/ignitionrobotics/ign-gazebo/pull/1310)
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1. Adds a `Link::SetLinearVelocity()` method
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* [Pull request #1323](https://github.com/ignitionrobotics/ign-gazebo/pull/1323)
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1. Fix weird indentation in `Link.hh`
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* [Pull request #1324](https://github.com/ignitionrobotics/ign-gazebo/pull/1324)
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1. Limit thruster system's input thrust cmd
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* [Pull request #1318](https://github.com/ignitionrobotics/ign-gazebo/pull/1318)
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1. Load and run visual plugin (system) on GUI side
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* [Pull request #1275](https://github.com/ignitionrobotics/ign-gazebo/pull/1275)
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1. Log an error if JointPositionController cannot find the joint. (citadel retarget)
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* [Pull request #1314](https://github.com/ignitionrobotics/ign-gazebo/pull/1314)
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1. Update source install instructions
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* [Pull request #1311](https://github.com/ignitionrobotics/ign-gazebo/pull/1311)
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1. Document the `<topic>` option for JointPositionController.
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* [Pull request #1309](https://github.com/ignitionrobotics/ign-gazebo/pull/1309)
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1. Fix typo in EntityComponentManager
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* [Pull request #1304](https://github.com/ignitionrobotics/ign-gazebo/pull/1304)
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1. Buoyancy: fix center of volume's reference frame
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* [Pull request #1302](https://github.com/ignitionrobotics/ign-gazebo/pull/1302)
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1. Fix graded buoyancy problems
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* [Pull request #1297](https://github.com/ignitionrobotics/ign-gazebo/pull/1297)
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1. Add surface to buoyancy engine. (retarget fortress)
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* [Pull request #1298](https://github.com/ignitionrobotics/ign-gazebo/pull/1298)
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1. Remove EachNew calls from sensor PreUpdates
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* [Pull request #1281](https://github.com/ignitionrobotics/ign-gazebo/pull/1281)
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1. Prevent GzScene3D 💥 if another scene is already loaded
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* [Pull request #1294](https://github.com/ignitionrobotics/ign-gazebo/pull/1294)
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1. Fix various typos on API documentation
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* [Pull request #1291](https://github.com/ignitionrobotics/ign-gazebo/pull/1291)
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1. Optional orientation when spawning entity using spherical coordinates
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* [Pull request #1263](https://github.com/ignitionrobotics/ign-gazebo/pull/1263)
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1. Cleanup update call for non-rendering sensors
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* [Pull request #1282](https://github.com/ignitionrobotics/ign-gazebo/pull/1282)
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1. Documentation Error
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* [Pull request #1285](https://github.com/ignitionrobotics/ign-gazebo/pull/1285)
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1. Min and max parameters for velocity, acceleration, and jerk apply to linear and angular separately.
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* [Pull request #1229](https://github.com/ignitionrobotics/ign-gazebo/pull/1229)
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1. Add project() call to examples
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* [Pull request #1274](https://github.com/ignitionrobotics/ign-gazebo/pull/1274)
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1. Implement /server_control::stop
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* [Pull request #1240](https://github.com/ignitionrobotics/ign-gazebo/pull/1240)
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### Ignition Gazebo 6.4.0 (2021-01-13)
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1. Disable more tests on Windows

‎examples/worlds/elevator.sdf

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<?xml version="1.0" ?>
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<!--
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Ignition Gazebo elevator plugin demo
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Try sending a command:
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ign topic -t "/model/elevator/cmd" -m ignition.msgs.Int32 -p "data: 2"
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Listen to state:
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ign topic -e -t /model/elevator/state
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-->
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<sdf version="1.6">
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<world name="elevator_world">
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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="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-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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<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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<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>1 1 1 1</diffuse>
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<specular>0.5 0.5 0.5 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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</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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</visual>
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</link>
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</model>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/nlamprian/models/Elevator</uri>
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</include>
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</world>
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</sdf>

‎examples/worlds/shader_param.sdf

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<scene>
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<ambient>1.0 1.0 1.0</ambient>
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<background>0.8 0.8 0.8</background>
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<sky></sky>
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<grid>false</grid>
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</scene>
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<light type="directional" name="sun">
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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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</visual>
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</link>
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</model>
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<include>
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<pose>0 0.0 0.5 0 0 0</pose>
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<name>deformable_sphere</name>
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<pose>3 0 0 0 0 0</pose>
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<pose>0 0 1.5 0 0 0</pose>
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<uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/deformable_sphere</uri>
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</include>
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<include>
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<name>waves</name>
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<pose>0 0 0 0 0 0</pose>
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<uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/waves</uri>
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</include>
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<model name="camera">
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<static>true</static>
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<pose>2.5 0 0.5 0 0.0 3.14</pose>
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<pose>2.5 0 1.5 0 0.0 3.14</pose>
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<link name="link">
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<pose>0.05 0.05 0.05 0 0 0</pose>
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<collision name="collision">

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