41 lines
1.2 KiB
Plaintext
41 lines
1.2 KiB
Plaintext
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<?xml version="1.0"?>
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<gazebo version="1.0">
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<world name="world_1">
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<scene>
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<ambient rgba="0.5 0.5 0.5 1.0"/>
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<background rgba="0.5 0.5 0.5 1.0">
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<sky material="Gazebo/CloudySky"/>
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</background>
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<shadows enabled="true"/>
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<fog rgba="0.0 0.0 0.5 0.5" type="linear" start="2.0" end="10.0" density="0.5"/>
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</scene>
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<physics type="ode">
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<ode>
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<max_contacts>250</max_contacts>
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<solver type="quick" dt="0.000001" iters="20" sor="1.3"/>
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<constraints cfm="0" erp="0.2" contact_max_correcting_vel="100.0" contact_surface_layer="0.0"/>
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<gravity xyz="0.0 0.0 -9.81"/>
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</ode>
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</physics>
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<!-- inertial only model -->
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<model name="model_1" static="false">
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<origin pose="0.0 0.0 1.0 0.0 0.0 0.0"/>
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<link name="link_1" self_collide="true" gravity="false" kinematic="false">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<inertial mass="10.0">
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<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
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<damping linear="0.0" angular="0.0" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0"/>
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</inertial>
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</link>
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</model>
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</world>
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</gazebo>
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