119 lines
3.2 KiB
Plaintext
119 lines
3.2 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<world name="default">
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<!-- blue point light -->
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<light type="point" name="point">
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<pose>0 0 0 0 0 0</pose>
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<diffuse>0 0 1 1</diffuse>
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<specular>.1 .1 .1 1</specular>
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<attenuation>
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<range>1</range>
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<linear>0.2</linear>
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<constant>0.8</constant>
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<quadratic>0.01</quadratic>
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</attenuation>
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<cast_shadows>false</cast_shadows>
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</light>
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<!-- red point light -->
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<light type="point" name="point2">
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<pose>0 0 0 0 0 0</pose>
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<diffuse>1 0 0 1</diffuse>
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<specular>.1 .1 .1 1</specular>
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<attenuation>
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<range>20</range>
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<linear>0.2</linear>
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<constant>0.8</constant>
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<quadratic>0.01</quadratic>
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</attenuation>
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<cast_shadows>false</cast_shadows>
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</light>
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<!-- green spot light -->
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<light type="spot" name="spot">
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<pose>0 0 0 0 0 0</pose>
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<diffuse>0 1 0 1</diffuse>
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<specular>.2 .2 .2 1</specular>
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<attenuation>
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<range>10</range>
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<linear>0.01</linear>
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<constant>0.2</constant>
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<quadratic>0.0</quadratic>
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</attenuation>
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<direction>0 0 -1</direction>
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<spot>
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<inner_angle>0.1</inner_angle>
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<outer_angle>0.5</outer_angle>
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<falloff>1.2</falloff>
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</spot>
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<cast_shadows>false</cast_shadows>
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</light>
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<!-- double pendulum with point and spot lights attached using plugin-->
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<model name="double_pendulum_with_lights">
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<include>
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<uri>model://double_pendulum_with_base</uri>
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</include>
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<plugin name="attach_light" filename="libAttachLightPlugin.so">
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<link>
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<link_name>double_pendulum_with_base::upper_link</link_name>
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<light>
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<light_name>point</light_name>
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</light>
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<light>
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<pose>0 0 0.45 0 0 0</pose>
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<light_name>point2</light_name>
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</light>
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</link>
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<link>
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<link_name>double_pendulum_with_base::lower_link</link_name>
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<light>
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<pose>0 0 0.9 3.14 0 0</pose>
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<light_name>spot</light_name>
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</light>
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</link>
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</plugin>
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</model>
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<!-- sphere with point light as child of link -->
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<model name="sphere_with_light">
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<pose>0.5 -1.5 0.65 0 0 0</pose>
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<link name="link">
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<!-- yellow point light -->
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<light type="point" name="point">
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<pose>0 0 0.5 0 0 0</pose>
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<diffuse>1 1 0 1</diffuse>
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<specular>.1 .1 .1 1</specular>
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<attenuation>
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<range>20</range>
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<linear>0.2</linear>
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<constant>0.8</constant>
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<quadratic>0.01</quadratic>
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</attenuation>
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<cast_shadows>false</cast_shadows>
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</light>
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<collision name="collision">
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<geometry>
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<sphere>
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<radius>0.5</radius>
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</sphere>
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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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<sphere>
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<radius>0.5</radius>
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</sphere>
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</geometry>
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</visual>
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</link>
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</model>
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</world>
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</sdf>
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