105 lines
No EOL
3.6 KiB
XML
105 lines
No EOL
3.6 KiB
XML
<?xml version="1.0"?>
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<sdf version='1.9'>
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<world name='mir'>
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<physics name='1ms' type='{engine_type}'>
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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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<real_time_update_rate>1000</real_time_update_rate>
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</physics>
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<plugin
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name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system' />
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<plugin
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name='ignition::gazebo::systems::UserCommands'
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filename='ignition-gazebo-user-commands-system' />
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<plugin
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name='ignition::gazebo::systems::SceneBroadcaster'
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filename='ignition-gazebo-scene-broadcaster-system' />
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<plugin
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name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system' />
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<plugin
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name="ignition::gazebo::systems::Sensors" filename="ignition-gazebo-sensors-system">
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<render_engine>ogre2</render_engine>
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</plugin>
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<gravity>{gravity_x} {gravity_y} {gravity_z}</gravity>
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<magnetic_field>6e-06
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2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type='adiabatic' />
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>false</shadows>
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</scene>
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<gui fullscreen="0">
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<plugin filename="GzScene3D" name="3D View">
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<ignition-gui>
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<title>3D View</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="string" key="state">docked</property>
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</ignition-gui>
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<engine>ogre2</engine>
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<scene>scene</scene>
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<ambient_light>1.0 1.0 1.0</ambient_light>
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<background_color>0.4 0.6 1.0</background_color>
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<camera_pose>3.3 2.8 2.8 0 0.5 -2.4</camera_pose>
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</plugin>
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<plugin filename="WorldStats" name="World stats">
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<ignition-gui>
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<title>World stats</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="bool" key="resizable">false</property>
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<property type="double" key="height">110</property>
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<property type="double" key="width">290</property>
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<property type="double" key="z">1</property>
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<property type="string" key="state">floating</property>
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<anchors target="3D View">
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<line own="right" target="right" />
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<line own="bottom" target="bottom" />
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</anchors>
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</ignition-gui>
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<sim_time>true</sim_time>
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<real_time>true</real_time>
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<real_time_factor>true</real_time_factor>
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<iterations>true</iterations>
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</plugin>
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</gui>
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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'>
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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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</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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{models} </world>
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</sdf> |