33 lines
836 B
Plaintext
33 lines
836 B
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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<!-- 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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<!-- A ground plane -->
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<!-- A spotlight -->
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<light name='spotlight' type='spot'>
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<pose>0 0 1 0 0 0</pose>
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<diffuse>0.5 0.5 0.5 1</diffuse>
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<specular>0.1 0.1 0.1 1</specular>
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<direction>0 0 -1</direction>
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<attenuation>
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<range>20</range>
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<constant>0.5</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<cast_shadows>0</cast_shadows>
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<spot>
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<inner_angle>0.6</inner_angle>
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<outer_angle>1</outer_angle>
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<falloff>1</falloff>
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</spot>
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</light>
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</world>
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</sdf>
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