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course.world
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course.world
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<?xml version="1.0"?>
<!-- Author Arjun S Kumar-->s
<sdf version="1.4">
<world name="default">
<scene>
<ambient>0 0 0 1</ambient>
<shadows>0</shadows>
<grid>0</grid>
<background>0.7 0.7 0.7 1</background>
</scene>
<!--
<physics type="ode">
<gravity>0 0 -9.8</gravity>
<ode>
<solver>
<type>quick</type>
<iters>10</iters>
<sor>1.3</sor>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.1</erp>
<contact_max_correcting_vel>10</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
<real_time_update_rate>1000</real_time_update_rate>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
</physics>
-->
<include>
<uri>model://sun</uri>
</include>
<model name="ground">
<pose>1 2.3 -.1 0 0 0</pose>
<static>1</static>
<link name="ground">
<collision name="ground_coll">
<geometry>
<box>
<size>10 10 .1</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name="ground_vis">
<geometry>
<box>
<size>10 10 .1</size>
</box>
</geometry>
<material>
<script>
<uri>file://course.material</uri>
<name>course</name>
</script>
</material>
</visual>
</link>
</model>
</world>
</sdf>