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Signed-off-by: Rhys Mainwaring <[email protected]>
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| <?xml version="1.0" ?> | ||
| <sdf version="1.9"> | ||
| <world name="playpen"> | ||
| <physics name="1ms" type="ignore"> | ||
| <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> | ||
| <plugin filename="gz-sim-imu-system" | ||
| name="gz::sim::systems::Imu"> | ||
| </plugin> | ||
| <plugin filename="gz-sim-magnetometer-system" | ||
| name="gz::sim::systems::Magnetometer"> | ||
| </plugin> | ||
| <plugin filename="gz-sim-navsat-system" | ||
| name="gz::sim::systems::NavSat"> | ||
| </plugin> | ||
|
|
||
| <scene> | ||
| <ambient>1.0 1.0 1.0</ambient> | ||
| <background>0.8 0.8 0.8</background> | ||
| <sky></sky> | ||
| </scene> | ||
|
|
||
| <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>0.8 0.8 0.8 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> | ||
|
|
||
| <spherical_coordinates> | ||
| <latitude_deg>-35.3632621</latitude_deg> | ||
| <longitude_deg>149.1652374</longitude_deg> | ||
| <elevation>10.0</elevation> | ||
| <heading_deg>0</heading_deg> | ||
| <surface_model>EARTH_WGS84</surface_model> | ||
| </spherical_coordinates> | ||
|
|
||
| <include> | ||
| <pose degrees="true">0 0 0 0 0 90</pose> | ||
| <uri>model://rover_playpen</uri> | ||
| </include> | ||
|
|
||
| <include> | ||
| <uri>model://omni4rover</uri> | ||
| <pose degrees="true">0 0 0.1 0 0 90</pose> | ||
| </include> | ||
|
|
||
| </world> | ||
| </sdf> |