74 lines
2.1 KiB
XML
74 lines
2.1 KiB
XML
<?xml version="1.0"?>
|
|
<sdf version="1.9">
|
|
<world name="rbs_freazer_world">
|
|
<scene>
|
|
<ambient>1.0 1.0 1.0</ambient>
|
|
<grid>false</grid>
|
|
</scene>
|
|
|
|
<physics name="1ms" type="ignored">
|
|
<max_step_size>0.001</max_step_size>
|
|
<real_time_factor>1.0</real_time_factor>
|
|
</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>0.2 0.2 0.2 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>1 1</size> -->
|
|
<!-- </plane> -->
|
|
<!-- </geometry> -->
|
|
<!-- </collision> -->
|
|
<!-- <visual name="visual"> -->
|
|
<!-- <geometry> -->
|
|
<!-- <plane> -->
|
|
<!-- <normal>0 0 1</normal> -->
|
|
<!-- <size>1 1</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> -->
|
|
|
|
|
|
</world>
|
|
</sdf>
|