131 lines
3.8 KiB
Plaintext
131 lines
3.8 KiB
Plaintext
<sdf version='1.4'>
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<world name='default'>
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<model name='ground_plane'>
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<static>1</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>100 100</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>100</mu>
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<mu2>50</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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<ode/>
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</contact>
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</surface>
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<max_contacts>10</max_contacts>
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</collision>
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<visual name='visual'>
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<cast_shadows>0</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>100 100</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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</model>
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<light name='sun' type='directional'>
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<cast_shadows>1</cast_shadows>
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<pose>0 0 10 0 -0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose>59.5752 -26.7965 20.1721 3.14536e-17 0.489796 2.43312</pose>
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<view_controller>orbit</view_controller>
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</camera>
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</gui>
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<!--
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<physics type='ode'>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>1000</real_time_update_rate>
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<gravity>0 0 -9.8</gravity>
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</physics>
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<physics type='ode'>
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<max_step_size>0.01</max_step_size>
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<real_time_update_rate>1000</real_time_update_rate>
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<real_time_factor>0.1</real_time_factor>
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<gravity>0 0 -9.8</gravity>
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</physics>
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-->
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<physics type="ode">
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<gravity>0 0 -9.81</gravity>
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<max_step_size>0.01</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>100</real_time_update_rate>
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<ode>
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<solver>
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<type>quick</type>
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<iters>5000</iters>
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<sor>1.3</sor>
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</solver>
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<constraints>
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<cfm>0</cfm>
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<erp>0.1</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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</physics>
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<scene>
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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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<shadows>1</shadows>
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</scene>
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<latitude_deg>0</latitude_deg>
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<longitude_deg>0</longitude_deg>
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<elevation>0</elevation>
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<heading_deg>0</heading_deg>
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</spherical_coordinates>
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<state world_name='default'>
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<sim_time>1089 336000000</sim_time>
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<real_time>39 555346329</real_time>
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<wall_time>1460561885 675223227</wall_time>
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<model name='ground_plane'>
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<pose>0 0 0 0 -0 0</pose>
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<link name='link'>
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<pose>0 0 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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</state>
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</world>
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</sdf>
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