76 lines
2.1 KiB
Plaintext
76 lines
2.1 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.5">
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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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<light type="point" name="point">
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<pose>0 2 2 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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<light type="point" name="point1">
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<pose>0 1 2 0 0 0</pose>
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<diffuse>0 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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<light type="point" name="point2">
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<pose>0 0 2 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>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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<light type="spot" name="spot">
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<pose>0 -1 2 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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<light type="directional" name="directional">
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<pose>0 -2 2 0 0 0</pose>
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<diffuse>0.2 0.2 .2 1</diffuse>
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<specular>.1 .1 .1 1</specular>
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<attenuation>
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<range>100</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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<cast_shadows>true</cast_shadows>
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</light>
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</world>
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</sdf>
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