wip: testing

src/sherpa/worlds/empty.world

@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <sdf version="1.5">
   <world name="empty">
+    <physics type="ode">
+      <max_step_size>0.001</max_step_size>
+      <real_time_update_rate>100</real_time_update_rate>
+    </physics>
     <plugin
       filename="gz-sim-physics-system"
       name="gz::sim::systems::Physics">
@@ -21,10 +25,6 @@
     <plugin filename="gz-sim-imu-system"
         name="gz::sim::systems::Imu">
     </plugin>
-    <plugin
-      filename="gz-sim-contact-system"
-      name="gz::sim::systems::Contact">
-    </plugin>
 
     <light name="sun" type="directional">
       <pose>0 0 20 0 0 0</pose>
@@ -52,10 +52,11 @@
           <surface>
             <friction>
               <ode>
-                <mu>0.8</mu>
-                <mu2>0.6</mu2>
+                <mu>50</mu>
               </ode>
             </friction>
+            <bounce/>
+            <contact/>
           </surface>
         </collision>
         <visual name="visual">
@@ -73,7 +74,22 @@
             </script>
           </material>
         </visual>
+        <pose>0 0 0 0 0 0</pose>
+        <inertial>
+          <pose>0 0 0 0 0 0</pose>
+          <mass>1</mass>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+        </inertial>
       </link>
+      <pose>0 0 0 0 0 0</pose>
+      <self_collide>false</self_collide>
     </model>
   </world>
 </sdf>