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122 lines
3.5 KiB
122 lines
3.5 KiB
<?xml version="1.0" encoding="UTF-8"?>
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<sdf version="1.9">
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<world name="lawn">
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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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<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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<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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<grid>true</grid>
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<ambient>0.5 0.5 0.5 0.3</ambient>
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<background>0.3 0.3 0.3 0.3</background>
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<shadows>true</shadows>
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</scene>
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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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<size>1 1</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>0.6</mu>
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<mu2>0.6</mu2>
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</ode>
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</friction>
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<bounce/>
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<contact>
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<collide_bitmask>65535</collide_bitmask>
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<ode>
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<min_depth>0.005</min_depth>
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<kp>1e8</kp>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>400 400</size>
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</plane>
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</geometry>
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<material>
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<diffuse>0.6 1.0 0.25 0.5</diffuse>
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<specular>0 0 0 0</specular>
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<emissive>0 0 0 0</emissive>
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</material>
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</visual>
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<pose>0 0 0 0 -0 0</pose>
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<inertial>
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<pose>0 0 0 0 -0 0</pose>
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<mass>1</mass>
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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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</inertial>
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<enable_wind>false</enable_wind>
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</link>
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<pose>0 0 0 0 -0 0</pose>
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<self_collide>false</self_collide>
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</model>
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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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<light type="directional" name="sun_2">
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<cast_shadows>true</cast_shadows>
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<pose>200 200 200 0 0 0</pose>
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<diffuse>0.5 0.5 0.5 0.3</diffuse>
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<specular>0.2 0.2 0.2 0.3</specular>
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<attenuation>
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<range>2000</range>
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<constant>1</constant>
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<linear>0</linear>
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<quadratic>0</quadratic>
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</attenuation>
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<direction>0.01 0.01 -0.9</direction>
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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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</world>
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</sdf>
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