104 lines
2.6 KiB
Plaintext
104 lines
2.6 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.4">
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<world name="default">
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<scene>
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<ambient>0.0 0.0 0.0 1</ambient>
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<background>1 1 1 1</background>
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<shadows>true</shadows>
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</scene>
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<physics type="ode">
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<gravity>0 0 -9.8</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<iters>100</iters>
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<sor>1.3</sor>
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</solver>
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</ode>
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<real_time_update_rate>100</real_time_update_rate>
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<max_step_size>0.01</max_step_size>
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</physics>
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<!-- Ground Plane -->
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<include><uri>model://ground_plane</uri></include>
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<model name="box">
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<link name="base_link">
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<pose>0 0 0.5 0 0 0</pose>
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<inertial>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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<mass>1.0</mass>
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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>1 1 1</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>1 1 1</size>
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</box>
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</geometry>
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</visual>
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</link>
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<link name="top_link">
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<pose>0 0 1.3 0 0 0</pose>
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<inertial>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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<mass>1.0</mass>
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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>.5 .5 .5</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>.5 .5 .5</size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name="my_joint" type="prismatic">
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<parent>base_link</parent>
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<child>top_link</child>
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<axis>
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<xyz>0 0 1</xyz>
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</axis>
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</joint>
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<plugin name="animate_joints" filename="libanimate_joints.so" />
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</model>
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<light type="directional" name="sun">
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<pose>0 0 10 0 0 0</pose>
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<diffuse>1.0 1.0 1.0 1</diffuse>
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<specular>.1 .1 .1 1</specular>
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<attenuation>
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<range>10</range>
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<linear>0.01</linear>
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<constant>0.8</constant>
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<quadratic>0.0</quadratic>
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</attenuation>
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<direction>0 .2 -1.0</direction>
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<cast_shadows>true</cast_shadows>
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</light>
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</world>
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</sdf>
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