126 lines
3.1 KiB
XML
126 lines
3.1 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.3">
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<world name="default">
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<physics type="ode">
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<gravity>0 0 0</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<dt>0.001</dt>
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<iters>1000</iters>
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<sor>1.3</sor>
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</solver>
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<constraints>
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<cfm>0.0</cfm>
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<erp>1.0</erp>
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<contact_max_correcting_vel>0.0</contact_max_correcting_vel>
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<contact_surface_layer>0.0</contact_surface_layer>
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</constraints>
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</ode>
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</physics>
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<model name="box">
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<pose>0 0 0 0 0 0</pose>
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<link name="link">
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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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<velocity_decay>
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<linear>0.0</linear>
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<angular>0.0</angular>
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</velocity_decay>
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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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<surface>
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<contact>
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<ode>
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<soft_erp>1</soft_erp>
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<max_vel>0</max_vel>
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</ode>
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</contact>
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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>
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<size>1 1 1</size>
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</box>
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</geometry>
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<material>
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<script>Gazebo/WoodPallet</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="sphere">
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<pose>2 0 0 0 0 0</pose>
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<link name="link">
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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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<velocity_decay>
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<linear>0.0</linear>
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<angular>0.0</angular>
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</velocity_decay>
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<collision name="collision">
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<geometry>
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<sphere>
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<radius>0.5</radius>
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</sphere>
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</geometry>
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<surface>
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<contact>
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<ode>
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<soft_erp>1</soft_erp>
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<max_vel>0</max_vel>
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</ode>
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</contact>
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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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<sphere>
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<radius>0.5</radius>
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</sphere>
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</geometry>
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<material>
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<script>Gazebo/WoodPallet</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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<light type="directional" name="sun">
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<pose>0 0 10 0 0 0</pose>
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<diffuse>.8 .8 .8 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 .5 -.5</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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