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@iche033
Created April 1, 2024 21:48
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Cordless drill simplified world
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="cordless_drill">
<gravity>0 0 -9.8</gravity>
<physics name="1ms" type="ignored">
<max_step_size>0.002</max_step_size>
<real_time_factor>1.0</real_time_factor>
<bullet>
<solver><iters>100</iters></solver>
</bullet>
</physics>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</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>
<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>0.8 0.8 0.8 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>
<surface>
<friction>
<ode>
<mu>100</mu>
</ode>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
</bounce>
</surface>
</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>
<include>
<pose>0.0 0.0 0.50 0 0 0</pose>
<name>Cordless drill simplified</name>
<uri>https://fuel.gazebosim.org/1.0/iche033/models/Cordless Drill Simplified</uri>
</include>
</world>
</sdf>
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