148 lines
3.9 KiB
XML
148 lines
3.9 KiB
XML
<?xml version="1.0"?>
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<sdf version="1.6">
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<world name="aubo-world">
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<physics name="1ms" type="dart">
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<plugin
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filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin>
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<plugin
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filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin
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filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<plugin
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filename="gz-sim-contact-system"
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name="gz::sim::systems::Contact">
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</plugin>
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<plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<ambient>0.8 0.8 0.8 1</ambient>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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</material>
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</visual>
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</link>
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</model>
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<model name="table">
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<static>true</static>
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<pose>0.5 0 0.1 0 0 0</pose>
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<link name="cylinder_link">
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<inertial auto="true" />
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<collision name="table_collision">
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<geometry>
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<box>
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<size>0.3 0.3 0.2</size>
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</box>
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</geometry>
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</collision>
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<visual name="table_visual">
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<geometry>
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<box>
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<size>0.3 0.3 0.2</size>
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</box>
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</geometry>
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<material>
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<ambient>0.6 0.3 0.3 1</ambient>
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<diffuse>0.6 0.3 0.3 1</diffuse>
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</material>
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</visual>
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</link>
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</model>
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<model name="simple_cylinder">
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<pose>0.5 0 0.252 0 0 0</pose>
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<link name="cylinder_link">
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<inertial>
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<mass>0.05</mass>
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<pose>0 0 0 0 0 0</pose>
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<inertia>
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<ixx>3.2083e-05</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>3.2083e-05</iyy>
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<iyz>0</iyz>
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<izz>1.0e-05</izz>
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</inertia>
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</inertial>
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<collision name="cylinder_collision">
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<geometry>
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<cylinder>
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<radius>0.01</radius>
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<length>0.05</length>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode>
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<min_depth>0.001</min_depth>
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<max_vel>0.01</max_vel>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>10.0</mu>
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<mu2>10.0</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="cylinder_visual">
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<geometry>
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<cylinder>
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<radius>0.01</radius>
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<length>0.05</length>
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</cylinder>
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</geometry>
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<material>
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<ambient>0.3 0.3 0.6 1</ambient>
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<diffuse>0.3 0.3 0.6 1</diffuse>
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</material>
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</visual>
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</link>
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</model>
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</world>
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</sdf>
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