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141 lines
3.8 KiB
141 lines
3.8 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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<model name="ocean">
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<static>true</static>
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<link name="ocean_link">
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<visual name="ocean_surface">
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<pose>0 0 0 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<mesh>
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<uri>model://ocean/media/models/sea_surface_1000m_x_1000m.dae</uri>
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<scale>2 2 2</scale>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>model://ocean/media/materials/scripts/waves.material</uri>
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<name>UUVSimulator/SimpleWaves</name>
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</script>
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</material>
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</visual>
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<visual name="ocean_below">
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<pose>0 0 0 3.14 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<mesh>
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<uri>model://ocean//media/models/sea_surface_1000m_x_1000m.dae</uri>
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<scale>2 2 2</scale>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>model://ocean/media/materials/scripts/water.material</uri>
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<name>UUVSimulator/StaticWater</name>
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</script>
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</material>
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</visual>
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<visual name="seafloor">
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<cast_shadows>false</cast_shadows>
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<pose>0 0 -100 0 0 0</pose>
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<geometry>
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<box>
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<size>2000 2000 .1</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>model://ocean/media/materials/scripts/sand.material</uri>
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<name>UUVSimulator/SandAndStones</name>
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</script>
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<emissive>
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0.6 0.6 0.6 1.0
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</emissive>
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</material>
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</visual>
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<collision name="seafloor">
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<pose>0 0 -100 0 0 0</pose>
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<geometry>
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<box>
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<size>2000 2000 .1</size>
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</box>
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</geometry>
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</collision>
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<visual name="north">
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<pose>1000 0 -50 0 -1.5708 0</pose>
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<geometry><plane><normal>0 0 1</normal><size>100 2000</size></plane></geometry>
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<material>
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<script>
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<uri>model://ocean/media/materials/scripts/water.material</uri>
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<name>UUVSimulator/SeaWall</name>
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</script>
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<emissive>
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0.6 0.6 0.6 1.0
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</emissive>
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</material>
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</visual>
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<visual name="south">
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<pose>-1000 0 -50 0 1.5708 0</pose>
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<geometry><plane><normal>0 0 1</normal><size>100 2000</size></plane></geometry>
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<material>
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<script>
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<uri>model://ocean/media/materials/scripts/water.material</uri>
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<name>UUVSimulator/SeaWall</name>
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</script>
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<emissive>
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0.6 0.6 0.6 1.0
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</emissive>
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</material>
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</visual>
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<visual name="west">
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<pose>0 1000 -50 1.5708 0 0</pose>
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<geometry><plane><normal>0 0 1</normal><size>2000 100</size></plane></geometry>
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<material>
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<script>
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<uri>model://ocean/media/materials/scripts/water.material</uri>
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<name>UUVSimulator/SeaWall</name>
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</script>
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<emissive>
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0.6 0.6 0.6 1.0
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</emissive>
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</material>
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</visual>
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<visual name="east">
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<pose>0 -1000 -50 -1.5708 0 0</pose>
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<geometry><plane><normal>0 0 1</normal><size>2000 100</size></plane></geometry>
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<material>
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<script>
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<uri>model://ocean/media/materials/scripts/water.material</uri>
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<name>UUVSimulator/SeaWall</name>
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</script>
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<emissive>
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0.6 0.6 0.6 1.0
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</emissive>
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</material>
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</visual>
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</link>
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</model>
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</sdf>
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