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copter_circuit.world
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<!-- | |
This work is licensed under the Creative Commons Attribution-NonCommercial 4.0 International License. | |
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc/4.0/. | |
--> | |
<?xml version="1.0" ?> | |
<sdf version="1.5"> | |
<world name="vrc_task_1"> | |
<!-- Light Source --> | |
<light type="directional" name="sun"> | |
<cast_shadows>false</cast_shadows> | |
<pose>0 0 100 0 0 0</pose> | |
<diffuse>0.8 0.8 0.8 1</diffuse> | |
<specular>0.9 0.9 0.9 1</specular> | |
<attenuation> | |
<range>1000</range> | |
<constant>0.9</constant> | |
<linear>0.01</linear> | |
<quadratic>0.001</quadratic> | |
</attenuation> | |
<!--<direction>0.2 0.2 -0.9</direction>--> | |
<!-- Vertical direction, for easier position debug --> | |
<direction>0 0 -1</direction> | |
</light> | |
<include> | |
<uri>model://jarama</uri> | |
<pose>0 0 0 0 0 0</pose> | |
</include> | |
<plugin name="ardupilot_sitl_gazebo_plugin" filename="/home/prasad/simulation/ros_catkin_ws/devel/lib/libardupilot_sitl_gazebo_plugin.so"> | |
<UAV_MODEL>erlecopter</UAV_MODEL> | |
</plugin> | |
</world> | |
</sdf> |
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