173 lines
4.9 KiB
Plaintext
173 lines
4.9 KiB
Plaintext
<sdf version='1.5'>
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<world name='world_1'>
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<scene>
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<shadows>1</shadows>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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</scene>
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<physics type='ode'>
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<max_contacts>250</max_contacts>
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<ode>
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<solver>
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<type>quick</type>
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<iters>20</iters>
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<sor>1.3</sor>
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<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
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</solver>
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<constraints>
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<cfm>0</cfm>
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<erp>0.2</erp>
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<contact_max_correcting_vel>100</contact_max_correcting_vel>
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<contact_surface_layer>0</contact_surface_layer>
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</constraints>
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</ode>
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<gravity>0 0 -10</gravity>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>1000</real_time_update_rate>
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<magnetic_field>5.5645e-06 2.28758e-05 -4.23884e-05</magnetic_field>
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</physics>
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<model name='model_1'>
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<pose>0 0 2 0 -0 0</pose>
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<link name='link_1'>
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<pose>0 0 0 0 -0 0</pose>
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<inertial>
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<pose>0 0 0 0 -0 0</pose>
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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>10</mass>
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</inertial>
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<visual name='visual_box'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>1 1 2</size>
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</box>
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</geometry>
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<cast_shadows>1</cast_shadows>
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<laser_retro>100</laser_retro>
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</visual>
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<collision name='collision_box'>
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<pose>0 0 0 0 -0 0</pose>
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<max_contacts>250</max_contacts>
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<geometry>
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<box>
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<size>1 1 2</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>0.5</mu>
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<mu2>0.2</mu2>
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<fdir1>1 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>1e+06</threshold>
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</bounce>
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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+15</kp>
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<kd>1e+13</kd>
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<max_vel>100</max_vel>
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<min_depth>0.0001</min_depth>
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</ode>
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</contact>
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</surface>
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<laser_retro>100</laser_retro>
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</collision>
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<sensor name='sensor_contact' type='contact'>
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<pose>0 0 0 0 -0 0</pose>
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<contact>
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<collision>__default__</collision>
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<topic>__default_topic__</topic>
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</contact>
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<always_on>1</always_on>
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<update_rate>2</update_rate>
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</sensor>
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<gravity>1</gravity>
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<self_collide>1</self_collide>
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<kinematic>0</kinematic>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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</link>
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<static>0</static>
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</model>
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<model name='gplane'>
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<pose>0 0 0 0 -0 0</pose>
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<link name='plane'>
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<pose>0 0 0 0 -0 0</pose>
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<collision name='plane'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>1 1</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>50</mu>
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<mu2>50</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0</slip1>
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<slip2>0</slip2>
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</ode>
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</friction>
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<bounce>
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<restitution_coefficient>0</restitution_coefficient>
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<threshold>0</threshold>
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</bounce>
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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0</soft_erp>
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<kp>1e+09</kp>
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<kd>1</kd>
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<max_vel>-1</max_vel>
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<min_depth>0</min_depth>
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</ode>
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</contact>
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</surface>
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<laser_retro>0</laser_retro>
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</collision>
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<visual name='old_gazebo_xml_visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>1 1</size>
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</plane>
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</geometry>
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<cast_shadows>1</cast_shadows>
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<laser_retro>0</laser_retro>
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<transparency>0</transparency>
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</visual>
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<gravity>1</gravity>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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</link>
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<static>1</static>
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</model>
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</world>
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</sdf>
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