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204 lines
8.6 KiB
204 lines
8.6 KiB
<?xml version="1.0" encoding="UTF-8"?>
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<sdf version="1.9">
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<world name="underwater">
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<physics type="ode">
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<max_step_size>0.004</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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<real_time_update_rate>250</real_time_update_rate>
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</physics>
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<plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
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<plugin name="gz::sim::systems::UserCommands" filename="gz-sim-user-commands-system"/>
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<plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
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<plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system"/>
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<plugin name="gz::sim::systems::Imu" filename="gz-sim-imu-system"/>
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<plugin name="gz::sim::systems::AirPressure" filename="gz-sim-air-pressure-system"/>
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<plugin name="gz::sim::systems::AirSpeed" filename="gz-sim-air-speed-system"/>
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<plugin name="gz::sim::systems::ApplyLinkWrench" filename="gz-sim-apply-link-wrench-system"/>
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<plugin name="gz::sim::systems::NavSat" filename="gz-sim-navsat-system"/>
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<plugin name="gz::sim::systems::Sensors" filename="gz-sim-sensors-system">
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<render_engine>ogre2</render_engine>
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</plugin>
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<gui fullscreen="false">
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<!-- 3D scene -->
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<plugin filename="MinimalScene" name="3D View">
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<gz-gui>
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<title>3D View</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="string" key="state">docked</property>
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</gz-gui>
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<engine>ogre2</engine>
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<scene>scene</scene>
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<ambient_light>0.4 0.4 0.4</ambient_light>
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<background_color>0.8 0.8 0.8</background_color>
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<camera_pose>-6 0 6 0 0.5 0</camera_pose>
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<camera_clip>
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<near>0.25</near>
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<far>25000</far>
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</camera_clip>
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</plugin>
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<!-- Plugins that add functionality to the scene -->
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<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
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<gz-gui>
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<property key="state" type="string">floating</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="GzSceneManager" name="Scene Manager">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="InteractiveViewControl" name="Interactive view control">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="CameraTracking" name="Camera Tracking">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="MarkerManager" name="Marker manager">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="SelectEntities" name="Select Entities">
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<gz-gui>
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<anchors target="Select entities">
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<line own="right" target="right"/>
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<line own="top" target="top"/>
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</anchors>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
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<gz-gui>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin filename="Spawn" name="Spawn Entities">
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<gz-gui>
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<anchors target="Select entities">
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<line own="right" target="right"/>
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<line own="top" target="top"/>
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</anchors>
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<property key="resizable" type="bool">false</property>
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<property key="width" type="double">5</property>
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<property key="height" type="double">5</property>
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<property key="state" type="string">floating</property>
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<property key="showTitleBar" type="bool">false</property>
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</gz-gui>
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</plugin>
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<plugin name="World control" filename="WorldControl">
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<gz-gui>
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<title>World control</title>
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<property type="bool" key="showTitleBar">0</property>
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<property type="bool" key="resizable">0</property>
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<property type="double" key="height">72</property>
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<property type="double" key="width">121</property>
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<property type="double" key="z">1</property>
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<property type="string" key="state">floating</property>
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<anchors target="3D View">
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<line own="left" target="left"/>
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<line own="bottom" target="bottom"/>
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</anchors>
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</gz-gui>
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<play_pause>1</play_pause>
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<step>1</step>
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<start_paused>1</start_paused>
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</plugin>
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<plugin name="World stats" filename="WorldStats">
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<gz-gui>
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<title>World stats</title>
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<property type="bool" key="showTitleBar">0</property>
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<property type="bool" key="resizable">0</property>
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<property type="double" key="height">110</property>
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<property type="double" key="width">290</property>
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<property type="double" key="z">1</property>
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<property type="string" key="state">floating</property>
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<anchors target="3D View">
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<line own="right" target="right"/>
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<line own="bottom" target="bottom"/>
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</anchors>
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</gz-gui>
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<sim_time>1</sim_time>
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<real_time>1</real_time>
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<real_time_factor>1</real_time_factor>
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<iterations>1</iterations>
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</plugin>
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<plugin name="Entity tree" filename="EntityTree"/>
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</gui>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type="adiabatic"/>
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<scene>
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<grid>false</grid>
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<!-- <ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background> -->
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<ambient>0.0 1.0 1.0</ambient>
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<background>0.0 0.7 0.8</background>
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<shadows>true</shadows>
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</scene>
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<light name="sunUTC" type="directional">
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<pose>0 0 500 0 -0 0</pose>
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<cast_shadows>true</cast_shadows>
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<intensity>1</intensity>
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<direction>0.001 0.625 -0.78</direction>
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<diffuse>0.904 0.904 0.904 1</diffuse>
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<specular>0.271 0.271 0.271 1</specular>
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<attenuation>
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<range>2000</range>
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<linear>0</linear>
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<constant>1</constant>
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<quadratic>0</quadratic>
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</attenuation>
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<spot>
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<inner_angle>0</inner_angle>
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<outer_angle>0</outer_angle>
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<falloff>0</falloff>
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</spot>
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</light>
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<world_frame_orientation>ENU</world_frame_orientation>
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<latitude_deg>47.397971057728974</latitude_deg>
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<longitude_deg> 8.546163739800146</longitude_deg>
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<elevation>0</elevation>
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</spherical_coordinates>
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<include>
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<uri>
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https://fuel.gazebosim.org/1.0/OpenRobotics/models/Portuguese Ledge
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</uri>
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</include>
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<plugin filename="libBuoyancySystemPlugin.so" name="gz::sim::systems::BuoyancySystem">
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<basicBuoyancy>1</basicBuoyancy>
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</plugin>
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</world>
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</sdf>
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