mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
242 lines
7.1 KiB
Plaintext
242 lines
7.1 KiB
Plaintext
<sdf version='1.6'>
|
|
<world name='default'>
|
|
<light name='sun' type='directional'>
|
|
<yunfei>99.2</yunfei>
|
|
<cast_shadows>1</cast_shadows>
|
|
<pose frame=''>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>1</static>
|
|
<link name='link'>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<plane>
|
|
<normal>0 0 1</normal>
|
|
<size>100 100</size>
|
|
</plane>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<collide_bitmask>65535</collide_bitmask>
|
|
<ode/>
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>100</mu>
|
|
<mu2>50</mu2>
|
|
</ode>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
</friction>
|
|
<bounce/>
|
|
</surface>
|
|
<max_contacts>10</max_contacts>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<cast_shadows>0</cast_shadows>
|
|
<geometry>
|
|
<plane>
|
|
<normal>0 0 1</normal>
|
|
<size>100 100</size>
|
|
</plane>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Grey</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
</model>
|
|
<gravity>0 0 -9.8</gravity>
|
|
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
|
|
<atmosphere type='adiabatic'/>
|
|
<physics name='default_physics' default='0' type='ode'>
|
|
<max_step_size>0.001</max_step_size>
|
|
<real_time_factor>1</real_time_factor>
|
|
<real_time_update_rate>1000</real_time_update_rate>
|
|
</physics>
|
|
<scene>
|
|
<ambient>0.4 0.4 0.4 1</ambient>
|
|
<background>0.7 0.7 0.7 1</background>
|
|
<shadows>1</shadows>
|
|
</scene>
|
|
<audio>
|
|
<device>default</device>
|
|
</audio>
|
|
<spherical_coordinates>
|
|
<surface_model>EARTH_WGS84</surface_model>
|
|
<latitude_deg>0</latitude_deg>
|
|
<longitude_deg>0</longitude_deg>
|
|
<elevation>0</elevation>
|
|
<heading_deg>0</heading_deg>
|
|
</spherical_coordinates>
|
|
<model name='unit_box_0'>
|
|
<static>1</static>
|
|
<pose frame=''>0.512455 -1.58317 0.5 0 -0 0</pose>
|
|
<link name='unit_box_0::link'>
|
|
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.166667</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.166667</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.166667</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='collision'>
|
|
<geometry>
|
|
<box>
|
|
<size>1 1 1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>cube.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
<script>
|
|
<name>Gazebo/Grey</name>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
</model>
|
|
<model name='unit_box_0_clone'>
|
|
<pose frame=''>0.105158 -4.55002 1.499995 -2.89297 -0.988287 -3.14159</pose>
|
|
<link name='unit_box_0::link'>
|
|
<inertial>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>0.166667</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.166667</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.166667</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='collision1'>
|
|
<geometry>
|
|
<box>
|
|
<size>1 1 1</size>
|
|
</box>
|
|
</geometry>
|
|
<max_contacts>10</max_contacts>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode/>
|
|
</torsional>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>cube.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
</material>
|
|
</visual>
|
|
<self_collide>0</self_collide>
|
|
<kinematic>0</kinematic>
|
|
<gravity>1</gravity>
|
|
</link>
|
|
</model>
|
|
<state world_name='default'>
|
|
<sim_time>0 0</sim_time>
|
|
<real_time>0 0</real_time>
|
|
<wall_time>1462824251 956472000</wall_time>
|
|
<iterations>0</iterations>
|
|
<model name='ground_plane'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<scale>1 1 1</scale>
|
|
<link name='link'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='unit_box_0'>
|
|
<pose frame=''>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
|
|
<scale>1 1 1</scale>
|
|
<link name='unit_box_0::link'>
|
|
<pose frame=''>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
|
|
<velocity>0.004896 3e-06 -0.004891 -6e-06 0.009793 -0</velocity>
|
|
<acceleration>0.010615 0.006191 -9.78231 -0.012424 0.021225 -1.8e-05</acceleration>
|
|
<wrench>0.010615 0.006191 -9.78231 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<model name='unit_box_0_clone'>
|
|
<pose frame=''>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
|
|
<scale>1 1 1</scale>
|
|
<link name='unit_box_0::link'>
|
|
<pose frame=''>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
|
</link>
|
|
</model>
|
|
<light name='sun'>
|
|
<pose frame=''>0 0 10 0 -0 0</pose>
|
|
</light>
|
|
</state>
|
|
<gui fullscreen='0'>
|
|
<camera name='user_camera'>
|
|
<pose frame=''>8.0562 -8.87312 3.07529 0 0.205021 2.5208</pose>
|
|
<view_controller>orbit</view_controller>
|
|
<projection_type>perspective</projection_type>
|
|
</camera>
|
|
</gui>
|
|
</world>
|
|
</sdf>
|