74 lines
2.0 KiB
Plaintext
74 lines
2.0 KiB
Plaintext
<sdf version="1.5">
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<world name="default">
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<physics type="ode">
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<gravity>0.000000 0.000000 -9.810000</gravity>
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<ode>
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<solver>
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<type>world</type>
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<iters>250</iters>
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<precon_iters>0</precon_iters>
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<sor>1.400000</sor>
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</solver>
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<constraints>
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<cfm>0.000000</cfm>
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<erp>0.200000</erp>
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<contact_max_correcting_vel>0.000000</contact_max_correcting_vel>
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<contact_surface_layer>0.00000</contact_surface_layer>
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</constraints>
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</ode>
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<real_time_update_rate>1000.000000</real_time_update_rate>
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<max_step_size>0.001000</max_step_size>
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</physics>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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</collision>
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<visual name="visual">
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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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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</model>
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<model name="box_model">
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<static>false</static>
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<pose>0 0 1.0 0 0 0</pose>
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<link name="box_link">
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<visual name="box_visual">
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<pose>0 0 0.5 0 0 0</pose>
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<geometry>
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<box>
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<size>1.0 1.0 1.0</size>
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</box>
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</geometry>
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</visual>
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<collision name="box_collision">
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<pose>0 0 0.5 0 0 0</pose>
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<geometry>
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<box>
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<size>1.0 1.0 1.0</size>
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</box>
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</geometry>
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</collision>
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</link>
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</model>
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</world>
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</sdf>
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