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48 lines
1.3 KiB
XML
48 lines
1.3 KiB
XML
<?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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<include>
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<uri>model://parquet_plane</uri>
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<pose>0 0 -0.01 0 0 0</pose>
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</include>
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<include>
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<uri>model://aruco_cmit_txt</uri>
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</include>
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<scene>
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<ambient>0.8 0.8 0.8 1</ambient>
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<background>0.8 0.9 1 1</background>
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<shadows>false</shadows>
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<grid>false</grid>
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<origin_visual>false</origin_visual>
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</scene>
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<physics name='default_physics' default='0' type='ode'>
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<gravity>0 0 -9.8066</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<iters>10</iters>
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<sor>1.3</sor>
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<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
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</solver>
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<constraints>
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<cfm>0</cfm>
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<erp>0.2</erp>
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<contact_max_correcting_vel>100</contact_max_correcting_vel>
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<contact_surface_layer>0.001</contact_surface_layer>
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</constraints>
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</ode>
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<max_step_size>0.004</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>250</real_time_update_rate>
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<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
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</physics>
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</world>
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</sdf>
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