119 lines
3.5 KiB
Text
119 lines
3.5 KiB
Text
<sdf version='1.9'>
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<world name='empty'>
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<physics name='1ms' type='ignored'>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</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 name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
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<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
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<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
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<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 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>true</shadows>
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</scene>
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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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<surface>
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<friction>
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<ode/>
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</friction>
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<bounce/>
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<contact/>
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</surface>
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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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<pose>0 0 0 0 -0 0</pose>
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<inertial>
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<pose>0 0 0 0 -0 0</pose>
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<mass>1</mass>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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</inertial>
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<enable_wind>false</enable_wind>
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</link>
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<pose>0 0 0 0 -0 0</pose>
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<self_collide>false</self_collide>
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</model>
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<include>
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<uri>model://box1</uri>
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<name>box1</name>
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<pose>0.3 0.4 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box2</name>
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<pose>0.2 0.4 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box3</name>
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<pose>0.1 0.4 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box4</name>
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<pose>0 0.4 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box5</name>
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<pose>-0.1 0.4 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box6</name>
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<pose>-0.2 0.4 0 0 0 0</pose>
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</include>
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<light name='sun' type='directional'>
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<pose>0 0 10 0 -0 0</pose>
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<cast_shadows>true</cast_shadows>
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<intensity>1</intensity>
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<direction>-0.5 0.1 -0.9</direction>
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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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<linear>0.01</linear>
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<constant>0.90000000000000002</constant>
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<quadratic>0.001</quadratic>
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</attenuation>
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<spot>
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<inner_angle>0</inner_angle>
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<outer_angle>0</outer_angle>
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<falloff>0</falloff>
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</spot>
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</light>
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</world>
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</sdf>
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