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angelacmaioadlarkiniche033Nate Koenig
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Add thermal parameters to worlds (#787)
* add thermal camera to marble husky Signed-off-by: Ashton Larkin <[email protected]> * new marble husky config 3 with thermal camera Signed-off-by: Ian Chen <[email protected]> * reuse config_1 files, add config_4 Signed-off-by: Ian Chen <[email protected]> * add config_4 files Signed-off-by: Ian Chen <[email protected]> * remove thermal camera from config_1 Signed-off-by: Ian Chen <[email protected]> * remove files Signed-off-by: Ian Chen <[email protected]> * add thermal properties to qual worlds * adjust lower gradient * apply thermal to remaining worlds * add thermal to stix and niosh Co-authored-by: Ashton Larkin <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Nate Koenig <[email protected]>
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‎subt_ign/worlds/cave_circuit/01/cave_circuit_01.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- START ROCK FALL 1: Global obstacle -->
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<!--Performer detector at Rock Fall #1-->
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<model name="performer_detector_rockfall_1">

‎subt_ign/worlds/cave_circuit/02/cave_circuit_02.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- START ROCK FALL 1: Global obstacle -->
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<!--Performer detector at Rock Fall #1-->
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<model name="performer_detector_rockfall_1">

‎subt_ign/worlds/cave_circuit/03/cave_circuit_03.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- START ROCK FALL 1: Global obstacle -->
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<!--Performer detector at Rock Fall #1-->
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<model name="performer_detector_rockfall_1">

‎subt_ign/worlds/cave_circuit/04/cave_circuit_04.sdf

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<?xml version="1.0" ?>
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<sdf version='1.6'>
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<world name='cave_circuit_04'>
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<physics name='1ms' type='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>1000</real_time_update_rate>
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</physics>
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<scene>
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<ambient>0.1 0.1 0.1 1</ambient>
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<background>0 0 0 1</background>
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<shadows>1</shadows>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- START ROCK FALL 1: Global obstacle -->
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<!--Performer detector at Rock Fall #1-->
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<model name="performer_detector_rockfall_1">

‎subt_ign/worlds/cave_circuit/05/cave_circuit_05.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- START ROCK FALL 1: Global obstacle -->
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<!--Performer detector at Rock Fall #1-->
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<model name="performer_detector_rockfall_1">

‎subt_ign/worlds/cave_circuit/06/cave_circuit_06.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- START ROCK FALL 1: Global obstacle -->
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<!--Performer detector at Rock Fall #1-->
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<model name="performer_detector_rockfall_1">

‎subt_ign/worlds/cave_circuit/07/cave_circuit_07.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<model name="performer_detector_rockfall_1">
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<static>true</static>
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<pose>297.5 -203 -26 0 0 0</pose>

‎subt_ign/worlds/cave_circuit/08/cave_circuit_08.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/cave_circuit_practice_01.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/cave_circuit_practice_02.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- START ROCK FALL 1 -->
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<!--Performer detector at Rock Fall #1 in tile_3-->
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<model name="performer_detector_rockfall_1">

‎subt_ign/worlds/cave_circuit_practice_03.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- START ROCK FALL 1 -->
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<!--Performer detector at Rock Fall #1-->
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<model name="performer_detector_rockfall_1">

‎subt_ign/worlds/cave_qual.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/niosh_ex_config_a.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/niosh_ex_config_b.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/niosh_sr_config_a.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/niosh_sr_config_b.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/simple_cave_01.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/simple_cave_02.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/simple_cave_03.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/simple_tunnel_01.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/simple_tunnel_02.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/simple_tunnel_03.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/simple_urban_01.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>

‎subt_ign/worlds/simple_urban_02.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>

‎subt_ign/worlds/simple_urban_03.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>

‎subt_ign/worlds/tunnel_circuit/01/tunnel_circuit_01.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/tunnel_circuit/02/tunnel_circuit_02.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/tunnel_circuit/03/tunnel_circuit_03.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/tunnel_circuit/04/tunnel_circuit_04.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/tunnel_circuit/05/tunnel_circuit_05.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/tunnel_circuit_practice_01.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

‎subt_ign/worlds/tunnel_circuit_practice_02.sdf

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<origin_visual>false</origin_visual>
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</scene>
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<atmosphere type="adiabatic">
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<temperature>288</temperature>
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<temperature_gradient>0.2</temperature_gradient>
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</atmosphere>
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<!-- The staging area -->
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<include>
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<static>true</static>

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