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box_mesh_test world
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<?xml version="1.0" ?> | |
<!-- | |
--> | |
<sdf version="1.6"> | |
<world name="box_mesh_test"> | |
<gravity>0 0 -9.8</gravity> | |
<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> | |
<bullet> | |
<friction>1</friction> | |
<friction2>1</friction2> | |
<rolling_friction>1</rolling_friction> | |
</bullet> | |
</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 0.5 1.0 0 0 0</pose> | |
<name>box</name> | |
<uri>box_mesh_test/box</uri> | |
</include> | |
<include> | |
<pose>0.0 0.5 4.8 0 0 0</pose> | |
<name>box2</name> | |
<uri>box_mesh_test/box</uri> | |
</include> | |
</world> | |
</sdf> |
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