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Signed-off-by: Louise Poubel <[email protected]>
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‎Changelog.md

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### Ignition Gazebo 4.X.X (20XX-XX-XX)
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### Ignition Gazebo 4.1.0 (2020-12-11)
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1. Update Dockerfiles to use focal images
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* [pull request 388](https://github.com/ignitionrobotics/ign-gazebo/pull/388)
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1. Updated source build instructions for ign-gazebo4
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* [pull request 404](https://github.com/ignitionrobotics/ign-gazebo/pull/404)
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1. Add tests for the AnimationTime component
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* [pull request 433](https://github.com/ignitionrobotics/ign-gazebo/pull/433)
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1. Fix pose msg conversion when msg is missing orientation
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* [pull request 450](https://github.com/ignitionrobotics/ign-gazebo/pull/450)
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* [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
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1. Resolved updated codecheck issues
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* [pull request 443](https://github.com/ignitionrobotics/ign-gazebo/pull/443)
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* [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457)
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* [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
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1. Use new backpack version in tests
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* [pull request 455](https://github.com/ignitionrobotics/ign-gazebo/pull/455)
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* [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457)
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* [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
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1. Fix segfault in the Breadcrumb system when associated model is unloaded
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* [pull request 454](https://github.com/ignitionrobotics/ign-gazebo/pull/454)
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* [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457)
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* [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
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1. Added user commands to example thermal camera world
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* [pull request 442](https://github.com/ignitionrobotics/ign-gazebo/pull/442)
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* [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
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1. Helper function to set component data
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* [pull request 436](https://github.com/ignitionrobotics/ign-gazebo/pull/436)
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* [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469)
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1. Remove unneeded if statement
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* [pull request 432](https://github.com/ignitionrobotics/ign-gazebo/pull/432)
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* [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469)
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1. Fix flaky RecordAndPlayback test in INTEGRATION_log_system
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* [pull request 463](https://github.com/ignitionrobotics/ign-gazebo/pull/463)
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* [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469)
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1. Make PeerTracker test more robust
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* [pull request 452](https://github.com/ignitionrobotics/ign-gazebo/pull/452)
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* [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469)
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1. Use a [std::promise](https://en.cppreference.com/w/cpp/thread/promise)/[std::future](https://en.cppreference.com/w/cpp/thread/future) mechanism to avoid waiting in a looop until all `stepAck` messages are received
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* [pull request 470](https://github.com/ignitionrobotics/ign-gazebo/pull/470)
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1. Optical Tactile Sensor Plugin
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* [pull request 229](https://github.com/ignitionrobotics/ign-gazebo/pull/229)
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1. All changes up to and including those in version 3.5.0 and version 2.25.0
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### Ignition Gazebo 4.0.0 (2020-09-30)
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1. Names with spaces: add string serializer

‎Migration.md

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@@ -5,6 +5,13 @@ Deprecated code produces compile-time warnings. These warning serve as
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notification to users that their code should be upgraded. The next major
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release will remove the deprecated code.
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## Ignition Gazebo 4.0.0 to 4.X.X
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* Ignition Gazebo 4.0.0 enabled double sided material by default but this
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caused shadow artifacts to appear on some meshes. Double sided material is
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now disabled and made an opt-in feature. Users can configure this property
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in SDF by setting the `<visual><material><double_sided>` SDF element.
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## Ignition Gazebo 3.x to 4.x
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* The `RenderUtil::SetEnabledSensors` callback in gazebo rendering has a new

‎examples/worlds/logical_audio_sensor_plugin.sdf

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<?xml version="1.0" ?>
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<!--
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An example world to demo how logical audio sources and microphones interact.
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2 sources are created, which are attached to a red and blue box.
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2 microphones are created, which are attached to a green and yellow box.
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The boxes can be moved to mimic sensors attached to a moving robot.
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To start and stop the audio sources, use the <PREFIX>/source_<id>/play and
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<PREFIX>/source_<id>/stop service calls.
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To play the source attached to the blue box, run the following command:
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ign service -s /model/blue_box/sensor/source_1/play
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--reqtype ignition.msgs.Empty --reptype ignition.msgs.Boolean
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--timeout 1000 --req 'unused: false'
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To stop the source attached to the blue box, run the following command:
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ign service -s /model/blue_box/sensor/source_1/stop
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--reqtype ignition.msgs.Empty --reptype ignition.msgs.Boolean
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--timeout 1000 --req 'unused: false'
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To observe microphone detections, use the <PREFIX>/mic_<id>/detection topic.
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The following command will display detections heard by the microphone attached
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to the green box:
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ign topic -e -t /model/green_box/sensor/mic_1/detection
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-->
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<sdf version="1.6">
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<world name="logical_audio_sensor">
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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-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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<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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</scene>
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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>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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<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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<model name="red_box">
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<pose>0 0 0.5 0 0 0</pose>
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<link name="box_link">
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<inertial>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<collision name="box_collision">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</collision>
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<visual name="box_visual">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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<material>
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<ambient>1 0 0 1</ambient>
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<diffuse>1 0 0 1</diffuse>
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<specular>1 0 0 1</specular>
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</material>
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</visual>
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</link>
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<plugin filename="ignition-gazebo-logicalaudiosensorplugin-system" name="ignition::gazebo::systems::LogicalAudioSensorPlugin">
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<source>
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<id>1</id>
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<pose>.5 0 0 0 0 0</pose>
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<attenuation_function>linear</attenuation_function>
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<attenuation_shape>sphere</attenuation_shape>
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<inner_radius>1.0</inner_radius>
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<falloff_distance>5.0</falloff_distance>
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<volume_level>.8</volume_level>
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<playing>true</playing>
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<play_duration>10</play_duration>
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</source>
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</plugin>
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</model>
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<model name="blue_box">
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<pose>3 3 0.5 0 0 0</pose>
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<link name="box_link">
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<inertial>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<collision name="box_collision">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</collision>
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<visual name="box_visual">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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<material>
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<ambient>0 0 1 1</ambient>
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<diffuse>0 0 1 1</diffuse>
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<specular>0 0 1 1</specular>
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</material>
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</visual>
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</link>
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<plugin filename="ignition-gazebo-logicalaudiosensorplugin-system" name="ignition::gazebo::systems::LogicalAudioSensorPlugin">
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<source>
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<id>1</id>
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<pose>0 0 0 0 0 0</pose>
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<attenuation_function>linear</attenuation_function>
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<attenuation_shape>sphere</attenuation_shape>
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<inner_radius>5.0</inner_radius>
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<falloff_distance>100.0</falloff_distance>
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<volume_level>.6</volume_level>
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<playing>false</playing>
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<play_duration>0</play_duration>
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</source>
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</plugin>
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</model>
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<model name="green_box">
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<pose>0 2 0.5 0 0 0</pose>
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<link name="box_link">
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<inertial>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<collision name="box_collision">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</collision>
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<visual name="box_visual">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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<material>
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<ambient>0 1 0 1</ambient>
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<diffuse>0 1 0 1</diffuse>
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<specular>0 1 0 1</specular>
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</material>
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</visual>
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</link>
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<plugin filename="ignition-gazebo-logicalaudiosensorplugin-system" name="ignition::gazebo::systems::LogicalAudioSensorPlugin">
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<microphone>
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<id>1</id>
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<pose>0 .5 0 0 0 0</pose>
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<volume_threshold>.4</volume_threshold>
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</microphone>
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</plugin>
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</model>
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<model name="yellow_box">
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<pose>-5 4 0.5 0 0 0</pose>
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<link name="box_link">
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<inertial>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<collision name="box_collision">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</collision>
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<visual name="box_visual">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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<material>
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<ambient>1 1 0 1</ambient>
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<diffuse>1 1 0 1</diffuse>
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<specular>1 1 0 1</specular>
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</material>
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</visual>
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</link>
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<plugin filename="ignition-gazebo-logicalaudiosensorplugin-system" name="ignition::gazebo::systems::LogicalAudioSensorPlugin">
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<microphone>
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<id>1</id>
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<pose>0.5 0.5 0.5 0 0 0</pose>
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<volume_threshold>.3</volume_threshold>
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</microphone>
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</plugin>
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</model>
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</world>
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</sdf>

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