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wip: added more world sim

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This commit is contained in:
Timo Schneider
2025-04-09 08:00:31 +02:00
parent 2019e2b717
commit c8b0ee68e8
1 changed files with 25 additions and 0 deletions
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25
src/sherpa/worlds/empty.world
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@@ -1,6 +1,31 @@
<?xml version="1.0" ?> <?xml version="1.0" ?>
<sdf version="1.5"> <sdf version="1.5">
<world name="empty"> <world name="empty">
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<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"> <light name="sun" type="directional">
<pose>0 0 20 0 0 0</pose> <pose>0 0 20 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1.0</diffuse> <diffuse>0.8 0.8 0.8 1.0</diffuse>