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59 lines
1.5 KiB
XML
59 lines
1.5 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="beer">
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<link name="link">
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<pose>0 0 0.115 0 0 1.57</pose>
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<inertial>
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<mass>0.190</mass>
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<inertia>
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<ixx>0.00058</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.00058</iyy>
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<iyz>0</iyz>
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<izz>0.00019</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius>0.055000</radius>
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<length>0.230000</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius>0.055000</radius>
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<length>0.230000</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>model://beer/materials/scripts</uri>
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<uri>model://beer/materials/textures</uri>
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<name>Beer/Diffuse</name>
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</script>
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</material>
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</visual>
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</link>
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<plugin name='usv_dynamics_wamv_dynamics_plugin' filename='libgazebo_usv_dynamics_plugin.so'>
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<bodyName>link</bodyName>
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<waterLevel>0</waterLevel>
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<waterDensity>997.8</waterDensity>
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<xDotU>0.0</xDotU>
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<yDotV>0.0</yDotV>
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<nDotR>0.0</nDotR>
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<xU>1.0</xU>
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<yV>1.0</yV>
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<zW>1.0</zW>
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<hullRadius>0.0381</hullRadius>
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<boatWidth>0.1</boatWidth>
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<boatLength>0.23</boatLength>
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<length_n>1.5</length_n>
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<wave_model>ocean_waves</wave_model>
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</plugin>
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</model>
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</sdf>
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