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77 lines
2.5 KiB
77 lines
2.5 KiB
<?xml version="1.0" ?>
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<!-- Copyright (c) 2016 The UUV Simulator Authors.
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All rights reserved.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<sdf version="1.4">
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<world name="oceans">
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<scene>
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<ambient>0.01 0.01 0.01 1.0</ambient>
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<sky>
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<clouds>
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<speed>12</speed>
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</clouds>
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</sky>
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<shadows>1</shadows>
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</scene>
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<!-- Origin placed somewhere in the middle of the North Sea -->
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<spherical_coordinates>
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<latitude_deg>56.71897669633431</latitude_deg>
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<longitude_deg>3.515625</longitude_deg>
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</spherical_coordinates>
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<!-- Global light source -->
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<light type="directional" name="sun1">
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<pose>50 0 150 0 0 0</pose>
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<diffuse>1 1 1 1</diffuse>
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<specular>.1 .1 .1 1</specular>
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<direction>0.3 0.3 -1</direction>
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<cast_shadows>false</cast_shadows>
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</light>
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<!-- Global light source -->
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<light type="directional" name="sun_diffuse">
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<pose>-50 0 -150 0 0 0</pose>
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<diffuse>0.6 0.6 0.6 1</diffuse>
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<specular>0 0 0 1</specular>
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<direction>-0.3 -0.3 -1</direction>
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<cast_shadows>false</cast_shadows>
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</light>
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<!-- Bounding box with sea surface -->
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<include>
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<uri>model://ocean</uri>
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<pose>0 0 0 0 0 0</pose>
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</include>
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<physics name='default_physics' default='0' type='ode'>
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<gravity>0 0 -9.8066</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<iters>10</iters>
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<sor>1.3</sor>
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<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
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</solver>
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<constraints>
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<cfm>0</cfm>
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<erp>0.2</erp>
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<contact_max_correcting_vel>100</contact_max_correcting_vel>
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<contact_surface_layer>0.001</contact_surface_layer>
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</constraints>
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</ode>
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<max_step_size>0.004</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>250</real_time_update_rate>
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<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
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</physics>
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</world>
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</sdf>
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