box_mesh_test world

box_mesh_test.sdf

<?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>