84 lines
2.2 KiB
XML
84 lines
2.2 KiB
XML
<?xml version="1.0"?>
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<gazebo version="1.0">
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<world name="default">
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<scene>
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<ambient rgba="0.2 0.2 0.2 1"/>
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<background rgba="0 0 0 1.0"/>
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<shadows enabled="true"/>
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</scene>
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<physics type="ode">
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<gravity xyz="0 0 -9.8"/>
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<ode>
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<solver type="quick" dt="0.01" iters="100" sor="1.3"/>
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<constraints cfm="0.0" erp="0.2" contact_max_correcting_vel="100.0" contact_surface_layer="0.001"/>
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</ode>
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</physics>
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<!-- Ground Plane -->
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<model name="plane1_model" static="true">
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<link name="body">
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<inertial mass="1.0">
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<collision name="geom">
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<geometry>
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<plane normal="0 0 1"/>
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</geometry>
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<surface>
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<friction>
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<ode mu="0" mu2="0"/>
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</friction>
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</surface>
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</collision>
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<visual name="visual" cast_shadows="false">
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<geometry>
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<plane normal="0 0 1"/>
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</geometry>
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<material script="Gazebo/Gold"/>
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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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<origin pose="0 0 0.5 0 0 0"/>
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<link name="link">
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<inertial mass="1.0">
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<collision name="collision">
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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<surface>
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<friction>
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<ode mu="0" mu2="0"/>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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<material script="Gazebo/WoodPallet"/>
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</visual>
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</link>
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<plugin name="model_visuals" filename="libmodel_visuals.so"/>
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</model>
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<light type="directional" name="sun" cast_shadows="true">
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<origin pose="0 0 10 0 0 0"/>
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<diffuse rgba=".8 .8 .8 1"/>
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<specular rgba=".1 .1 .1 1"/>
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<attenuation range="10" constant="0.8" linear="0.01" quadratic="0.0"/>
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<direction xyz="0 .5 -.5"/>
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</light>
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</world>
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</gazebo>
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