170 lines
4.6 KiB
Plaintext
170 lines
4.6 KiB
Plaintext
<sdf version='1.5'>
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<world name='default'>
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<physics name='default_physics' default='0' type='ode'>
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<gravity>-100 0 0</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<iters>300</iters>
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<sor>1.0</sor>
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</solver>
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<constraints>
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<cfm>0</cfm>
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<erp>0.5</erp>
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<contact_max_correcting_vel>1000.0</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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<real_time_update_rate>0.000000</real_time_update_rate>
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<max_step_size>0.001</max_step_size>
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</physics>
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<model name='box'>
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<allow_auto_disable>0</allow_auto_disable>
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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>5</mass>
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</inertial>
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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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<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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<poissons_ratio>0.3</poissons_ratio>
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<elastic_modulus>500000.0</elastic_modulus>
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<ode>
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<kp>1</kp>
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<kd>100.0</kd>
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<max_vel>100.0</max_vel>
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<min_depth>0.0015</min_depth>
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</ode>
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</contact>
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<friction>
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<torsional>
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<coefficient>1.0</coefficient>
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<use_patch_radius>0</use_patch_radius>
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<surface_radius>0.08</surface_radius>
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</torsional>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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</ode>
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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>
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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>
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<uri>__default__</uri>
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<name>__default__</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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<static>1</static>
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</model>
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<model name='sphere'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>2 0.3 0.2 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>3</mass>
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</inertial>
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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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<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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<poissons_ratio>0.4</poissons_ratio>
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<elastic_modulus>600000.0</elastic_modulus>
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<ode>
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<kp>1</kp>
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<kd>100.0</kd>
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<max_vel>100.0</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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<friction>
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<torsional>
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<coefficient>1.0</coefficient>
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<use_patch_radius>0</use_patch_radius>
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<surface_radius>0.06</surface_radius>
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</torsional>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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</ode>
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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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<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>
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<uri>__default__</uri>
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<name>__default__</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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<light name='sun' type='directional'>
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<pose>0 0 10 0 -0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.1 0.1 0.1 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</quadratic>
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</attenuation>
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<direction>0 0.5 -0.5</direction>
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<cast_shadows>1</cast_shadows>
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</light>
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<scene>
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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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<shadows>1</shadows>
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</scene>
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</world>
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</sdf>
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