shape_draw.xml

<?xml version="1.0"?>
<?xml-stylesheet type="text/xsl" href="http://gtri.gatech.edu"?>
<runscript xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    name="Straight flying">

  <run start="0.0" end="1000" dt="0.1"
       time_warp="1"
       enable_gui="true"
       network_gui="false"
       start_paused="false"/>

  <multi_threaded num_threads="8">false</multi_threaded>
  <stream_port>50051</stream_port>
  <stream_ip>localhost</stream_ip>

  <end_condition>time, all_dead</end_condition> <!-- time, one_team, none-->

  <grid_spacing>5</grid_spacing>
  <grid_size>1000</grid_size>

  <!-- <background_color>191 191 191</background_color> [> Red Green Blue <] -->
  <gui_update_period>10</gui_update_period> <!-- milliseconds -->

  <plot_tracks>false</plot_tracks>
  <output_type>all</output_type>
  <show_plugins>false</show_plugins>

  <log_dir>~/.scrimmage/logs</log_dir>
  <create_latest_dir>true</create_latest_dir>

  <latitude_origin>35.721025</latitude_origin>
  <longitude_origin>-120.767925</longitude_origin>
  <altitude_origin>300</altitude_origin>
  <show_origin>true</show_origin>
  <origin_length>10</origin_length>

  <!-- uncomment "seed" and use integer for deterministic results -->
  <seed>2147483648</seed>

  <!-- ========================== TEAM 1 ========================= -->
  <entity>
    <name>uav_entity</name>
    <team_id>1</team_id>
    <color>77 77 255</color>
    <count>1</count>
    <health>1</health>
    <radius>1</radius>

    <variance_x>20</variance_x>
    <variance_y>20</variance_y>
    <variance_z>10</variance_z>

    <x>-900</x>
    <y>0</y>
    <z>195</z>
    <heading>0</heading>

    <!-- <controller>SimpleAircraftControllerPID</controller> -->
    <!-- <motion_model>SimpleAircraft</motion_model> -->

    <visual_model>zephyr-blue</visual_model>

    <!--<sensor>ContactBlobCamera</sensor>-->

    <autonomy>ShapeDraw</autonomy>

    <base>
      <latitude>35.721112</latitude>
      <longitude>-120.770305</longitude>
      <altitude>300</altitude>
      <radius>25</radius>
    </base>
  </entity>
</runscript>