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101 lines
2.4 KiB
XML
101 lines
2.4 KiB
XML
<?xml version="1.0"?>
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<sdf version="1.5">
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<world name="default">
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<physics type="ode">
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<ode>
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<solver>
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<type>quick</type>
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<iters>100</iters>
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<sor>1.0</sor>
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</solver>
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<constraints>
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<cfm>0.0</cfm>
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<erp>0.9</erp>
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<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
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<contact_surface_layer>0.0</contact_surface_layer>
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</constraints>
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</ode>
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<real_time_update_rate>1000</real_time_update_rate>
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<max_step_size>0.0010</max_step_size>
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</physics>
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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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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.25 0.25 0.25 1</background>
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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>5000 5000</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>1</mu>
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<mu2>1</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="runway">
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<pose>000 0 0.005 0 0 0</pose>
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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>1829 45</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/Runway</name>
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</script>
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</material>
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</visual>
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<visual name="grass">
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<pose>0 0 -0.1 0 0 0</pose>
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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>5000 5000</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/Grass</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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</model>
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<include>
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<uri>model://sun</uri>
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</include>
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<model name="iris">
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<include>
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<uri>model://drone_with_camera</uri>
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</include>
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<pose> 0 0 0 0 0 0</pose>
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</model>
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</world>
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</sdf>
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