68 lines
2.0 KiB
XML
68 lines
2.0 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<physics type="ode">
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<max_step_size>0.0002</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>5000</real_time_update_rate>
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<gravity>0 0 -9.81</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<iters>50</iters>
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<sor>1.3</sor>
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</solver>
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<constraints>
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<cfm>0.0</cfm>
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<erp>0.2</erp>
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<contact_max_correcting_vel>10.0</contact_max_correcting_vel>
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<contact_surface_layer>0.001</contact_surface_layer>
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</constraints>
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</ode>
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</physics>
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<scene>
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<sky>
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<clouds>
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<speed>12</speed>
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</clouds>
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</sky>
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</scene>
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<!-- A global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<!-- A ground plane -->
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<!-- environment blocks, obstacles or stairs -->
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<model name="static_environment">
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<static>true</static>
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<link name="static_box">
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<pose>-2 2 0.5 0 0 0</pose>
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<collision name="static_box_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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</collision>
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<visual name="static_box_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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<ambient>0.2 0.2 0.2 1.0</ambient>
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<diffuse>.421 0.225 0.0 1.0</diffuse>
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</material>
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</visual>
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</link>
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</model>
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</world>
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</sdf>
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