119 lines
3.8 KiB
Plaintext
119 lines
3.8 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.4">
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<world name="default">
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<!-- A global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<model name="box1">
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<pose>-64 64 0.1 0 0 0</pose>
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<link name="link">
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<collision name="collision">
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<geometry> <box> <size>1 1 1</size> </box> </geometry>
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</collision>
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<visual name="visual">
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<geometry> <box> <size>1 1 1</size> </box> </geometry>
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</visual>
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<sensor name="gps" type="gps">
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<pose>0 0 0 0 0 0</pose>
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<update_rate>10.0</update_rate>
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<always_on>true</always_on>
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<gps>
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<position_sensing>
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<horizontal>
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<noise type="gaussian_quantized">
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<mean>0</mean>
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<stddev>0</stddev>
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<bias_mean>0</bias_mean>
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<bias_stddev>0</bias_stddev>
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<precision>0.5</precision>
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</noise>
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</horizontal>
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<vertical>
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<noise type="gaussian_quantized">
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<mean>0</mean>
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<stddev>0</stddev>
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<bias_mean>0</bias_mean>
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<bias_stddev>0</bias_stddev>
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<precision>1.0</precision>
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</noise>
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</vertical>
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</position_sensing>
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<velocity_sensing>
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<horizontal>
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<noise type="gaussian_quantized">
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<mean>0</mean>
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<stddev>0</stddev>
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<bias_mean>0</bias_mean>
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<bias_stddev>0</bias_stddev>
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<precision>0.1</precision>
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</noise>
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</horizontal>
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<vertical>
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<noise type="gaussian_quantized">
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<mean>0</mean>
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<stddev>0</stddev>
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<bias_mean>0</bias_mean>
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<bias_stddev>0</bias_stddev>
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<precision>0.2</precision>
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</noise>
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</vertical>
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</velocity_sensing>
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</gps>
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</sensor>
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</link>
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</model>
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<model name="heightmap">
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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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<heightmap>
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<uri>file://media/dem/volcano.tif</uri>
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<size>129 129 0.1</size>
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<pos>0 0 0</pos>
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</heightmap>
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</geometry>
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</collision>
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<visual name="visual_abcedf">
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<geometry>
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<heightmap>
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<texture>
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<diffuse>file://media/materials/textures/dirt_diffusespecular.png</diffuse>
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<normal>file://media/materials/textures/flat_normal.png</normal>
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<size>1</size>
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</texture>
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<texture>
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<diffuse>file://media/materials/textures/grass_diffusespecular.png</diffuse>
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<normal>file://media/materials/textures/flat_normal.png</normal>
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<size>1</size>
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</texture>
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<texture>
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<diffuse>file://media/materials/textures/fungus_diffusespecular.png</diffuse>
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<normal>file://media/materials/textures/flat_normal.png</normal>
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<size>1</size>
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</texture>
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<blend>
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<min_height>2</min_height>
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<fade_dist>5</fade_dist>
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</blend>
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<blend>
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<min_height>4</min_height>
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<fade_dist>5</fade_dist>
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</blend>
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<uri>file://media/dem/volcano.tif</uri>
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<size>129 129 0.1</size>
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<pos>0 0 0</pos>
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</heightmap>
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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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