96 lines
2.5 KiB
XML
96 lines
2.5 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="empty">
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<physics type="ode">
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<max_step_size>0.001</max_step_size>
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<real_time_update_rate>100</real_time_update_rate>
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</physics>
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<plugin
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filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin>
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<plugin
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filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin
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filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<plugin
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filename="gz-sim-sensors-system"
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name="gz::sim::systems::Sensors">
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<render_engine>ogre</render_engine>
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</plugin>
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<plugin filename="gz-sim-imu-system"
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name="gz::sim::systems::Imu">
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</plugin>
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<light name="sun" type="directional">
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<pose>0 0 20 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1.0</diffuse>
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<specular>0.8 0.8 0.8 1.0</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.05</linear>
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<quadratic>0.01</quadratic>
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</attenuation>
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<cast_shadows>false</cast_shadows>
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</light>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>1000 1000</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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</ode>
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</friction>
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<bounce/>
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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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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>1000 1000</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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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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<mass>1</mass>
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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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</inertial>
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</link>
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<pose>0 0 0 0 0 0</pose>
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<self_collide>false</self_collide>
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</model>
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</world>
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</sdf>
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