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EMFeRSolver.java

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  • simulator.world 704 B
    <?xml version="1.0" ?>
    <sdf version="1.5">
      <world name="default">
        <!-- A global light source -->
        <include>
          <uri>model://sun</uri>
        </include>
        <!-- A ground plane -->
        <include>
          <uri>model://ground_plane</uri>
        </include>
        <physics name='default_physics' default='0' type='ode'>
          <!-- the max step size is set to 0.001 by default. -->
          <!-- When increasing it, the simulation quality may suffer. -->
          <max_step_size>0.002</max_step_size>
          <!-- this factor actually is computed by multiplying the other two -->
          <real_time_factor>0.2</real_time_factor>
          <real_time_update_rate>100</real_time_update_rate>
        </physics>
      </world>
    </sdf>