Created
December 20, 2023 00:10
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World file to test contacts
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<?xml version="1.0" ?> | |
<sdf version="1.6"> | |
<world name="contacts"> | |
<scene> | |
<ambient>1.0 1.0 1.0</ambient> | |
<background>0.8 0.8 0.8</background> | |
</scene> | |
<light type="directional" name="sun"> | |
<cast_shadows>true</cast_shadows> | |
<pose>0 0 10 0 0 0</pose> | |
<diffuse>0.8 0.8 0.8 1</diffuse> | |
<specular>0.2 0.2 0.2 1</specular> | |
<attenuation> | |
<range>1000</range> | |
<constant>0.9</constant> | |
<linear>0.01</linear> | |
<quadratic>0.001</quadratic> | |
</attenuation> | |
<direction>-0.5 0.1 -0.9</direction> | |
</light> | |
<model name="ground_plane"> | |
<static>true</static> | |
<link name="link"> | |
<collision name="collision"> | |
<geometry> | |
<plane> | |
<normal>0 0 1</normal> | |
<size>100 100</size> | |
</plane> | |
</geometry> | |
</collision> | |
<visual name="visual"> | |
<geometry> | |
<plane> | |
<normal>0 0 1</normal> | |
<size>100 100</size> | |
</plane> | |
</geometry> | |
<material> | |
<ambient>0.8 0.8 0.8 1</ambient> | |
<diffuse>0.8 0.8 0.8 1</diffuse> | |
<specular>0.8 0.8 0.8 1</specular> | |
</material> | |
</visual> | |
</link> | |
</model> | |
<model name="box"> | |
<static>true</static> | |
<pose>0 0 0.0 0 0 0</pose> | |
<link name="box_link"> | |
<collision name="box_collision"> | |
<geometry> | |
<box> | |
<size>10 10 10</size> | |
</box> | |
</geometry> | |
</collision> | |
<visual name="box_visual"> | |
<geometry> | |
<box> | |
<size>10 10 10</size> | |
</box> | |
</geometry> | |
<material> | |
<ambient>1 0 0 1</ambient> | |
<diffuse>1 0 0 0.5</diffuse> | |
<specular>1 0 0 1</specular> | |
</material> | |
</visual> | |
</link> | |
</model> | |
<model name="ellipsoid"> | |
<static>false</static> | |
<pose>0 0.0 0.5 0 0 0</pose> | |
<link name="ellipsoid_link"> | |
<inertial> | |
<inertia> | |
<ixx>0.068</ixx> | |
<ixy>0</ixy> | |
<ixz>0</ixz> | |
<iyy>0.058</iyy> | |
<iyz>0</iyz> | |
<izz>0.026</izz> | |
</inertia> | |
<mass>1.0</mass> | |
</inertial> | |
<collision name="ellipsoid_collision"> | |
<geometry> | |
<ellipsoid> | |
<radii>0.2 0.3 0.5</radii> | |
</ellipsoid> | |
</geometry> | |
</collision> | |
<visual name="ellipsoid_visual"> | |
<geometry> | |
<ellipsoid> | |
<radii>0.2 0.3 0.5</radii> | |
</ellipsoid> | |
</geometry> | |
<material> | |
<ambient>1 0 1 1</ambient> | |
<diffuse>1 0 1 1</diffuse> | |
<specular>1 0 1 1</specular> | |
</material> | |
</visual> | |
</link> | |
</model> | |
</world> | |
</sdf> |
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