Created
April 1, 2024 21:48
-
-
Save iche033/428fd4624393576d99045b67b78b1698 to your computer and use it in GitHub Desktop.
Cordless drill simplified world
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
<?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> |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment