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<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<audio>
<device>default</device>
</audio>
<model name="box">
<pose>0 0 10.5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<script>Gazebo/WoodPallet</script>
</material>
</visual>
<audio_source>
<uri>file://media/audio/cheer.mp3</uri>
<pitch>2.0</pitch>
<gain>1.0</gain>
<loop>false</loop>
<contact>
<collision>collision</collision>
</contact>
</audio_source>
</link>
</model>
<model name="sphere">
<pose>0 1.5 0.5 0 0 0</pose>
<link name="link">
<audio_sink />
<collision name="collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<script>Gazebo/WoodPallet</script>
</material>
</visual>
</link>
</model>
</world>
</sdf>
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