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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,109 @@ | ||
| <sdf version='1.9'> | ||
| <world name='baylands'> | ||
| <physics type="ode"> | ||
| <max_step_size>0.004</max_step_size> | ||
| <real_time_factor>1.0</real_time_factor> | ||
| <real_time_update_rate>250</real_time_update_rate> | ||
| </physics> | ||
| <plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/> | ||
| <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/> | ||
| <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/> | ||
| <plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/> | ||
| <plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/> | ||
| <plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/> | ||
| <plugin name='gz::sim::systems::ApplyLinkWrench' filename='gz-sim-apply-link-wrench-system'/> | ||
| <plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'> | ||
| <render_engine>ogre2</render_engine> | ||
| </plugin> | ||
| <gui fullscreen='false'> | ||
| <plugin name='3D View' filename='GzScene3D'> | ||
| <gz-gui> | ||
| <title>3D View</title> | ||
| <property type='bool' key='showTitleBar'>0</property> | ||
| <property type='string' key='state'>docked</property> | ||
| </gz-gui> | ||
| <engine>ogre2</engine> | ||
| <scene>scene</scene> | ||
| <ambient_light>0.5984631152222222 0.5984631152222222 0.5984631152222222</ambient_light> | ||
| <background_color>0.8984631152222222 0.8984631152222222 0.8984631152222222</background_color> | ||
| <camera_pose>-6 0 6 0 0.5 0</camera_pose> | ||
| </plugin> | ||
| <plugin name='World control' filename='WorldControl'> | ||
| <gz-gui> | ||
| <title>World control</title> | ||
| <property type='bool' key='showTitleBar'>0</property> | ||
| <property type='bool' key='resizable'>0</property> | ||
| <property type='double' key='height'>72</property> | ||
| <property type='double' key='width'>121</property> | ||
| <property type='double' key='z'>1</property> | ||
| <property type='string' key='state'>floating</property> | ||
| <anchors target='3D View'> | ||
| <line own='left' target='left'/> | ||
| <line own='bottom' target='bottom'/> | ||
| </anchors> | ||
| </gz-gui> | ||
| <play_pause>1</play_pause> | ||
| <step>1</step> | ||
| <start_paused>1</start_paused> | ||
| </plugin> | ||
| <plugin name='World stats' filename='WorldStats'> | ||
| <gz-gui> | ||
| <title>World stats</title> | ||
| <property type='bool' key='showTitleBar'>0</property> | ||
| <property type='bool' key='resizable'>0</property> | ||
| <property type='double' key='height'>110</property> | ||
| <property type='double' key='width'>290</property> | ||
| <property type='double' key='z'>1</property> | ||
| <property type='string' key='state'>floating</property> | ||
| <anchors target='3D View'> | ||
| <line own='right' target='right'/> | ||
| <line own='bottom' target='bottom'/> | ||
| </anchors> | ||
| </gz-gui> | ||
| <sim_time>1</sim_time> | ||
| <real_time>1</real_time> | ||
| <real_time_factor>1</real_time_factor> | ||
| <iterations>1</iterations> | ||
| </plugin> | ||
| <plugin name='Entity tree' filename='EntityTree'/> | ||
| </gui> | ||
| <gravity>0 0 -9.8</gravity> | ||
| <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field> | ||
| <atmosphere type='adiabatic'/> | ||
| <scene> | ||
| <ambient>0.8 0.5 1</ambient> | ||
| <grid>false</grid> | ||
| </scene> | ||
| <light type="directional" name="sun"> | ||
| <cast_shadows>true</cast_shadows> | ||
| <pose>0 0 100 0 0.75 0</pose> | ||
| <diffuse>0.8 0.8 0.8 1</diffuse> | ||
| <specular>0.0 0.0 0.0 1</specular> | ||
| <intensity>5</intensity> | ||
| <attenuation> | ||
| <range>100</range> | ||
| <constant>0.9</constant> | ||
| <linear>0.01</linear> | ||
| <quadratic>0.001</quadratic> | ||
| </attenuation> | ||
| <direction>-0.5 0.1 -0.9</direction> | ||
| </light> | ||
|
|
||
| <include> | ||
| <uri> | ||
| https://fuel.gazebosim.org/1.0/OpenRobotics/models/baylands | ||
| </uri> | ||
| <name>park</name> | ||
| <pose>205 155 -1 0 0 0</pose> | ||
| </include> | ||
| <include> | ||
| <uri> | ||
| https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coast Water | ||
| </uri> | ||
| <pose>0 0 -2 0 0 0 | ||
| <relative_to>park</relative_to> | ||
| </pose> | ||
|
|
||
| </include> | ||
| </world> | ||
| </sdf> |