61 lines
1.5 KiB
Plaintext
61 lines
1.5 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<physics type="ode">
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<gravity>0 0 -9.81</gravity>
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</physics>
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<include>
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<uri>model://sun</uri>
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</include>
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<model name="box">
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<pose>0 1.8 0.9 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>10</mass>
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<inertia>
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<ixx>0.808333333333333</ixx>
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<iyy>0.683333333333333</iyy>
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<izz>0.141666666666667</izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.1 0.4 0.9</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.1 0.4 0.9</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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<plugin name="large_wz" filename="libInitialVelocityPlugin.so">
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<linear>-1 -1 5</linear>
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<angular>0.1 5.0 0.1</angular>
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</plugin>
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</model>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose>5.5 0.0 0.9 0 0 3.14159</pose>
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<view_controller>orbit</view_controller>
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</camera>
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</gui>
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</world>
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</sdf>
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