mirror of
https://github.com/CopterExpress/clover.git
synced 2026-05-26 21:19:35 +00:00
44 lines
1.2 KiB
XML
44 lines
1.2 KiB
XML
<?xml version="1.0" ?>
|
|
<sdf version="1.5">
|
|
<world name="default">
|
|
<!-- A global light source -->
|
|
<include>
|
|
<uri>model://sun</uri>
|
|
</include>
|
|
<include>
|
|
<uri>model://parquet_plane</uri>
|
|
<pose>0 0 -0.01 0 0 0</pose>
|
|
</include>
|
|
|
|
<scene>
|
|
<ambient>0.8 0.8 0.8 1</ambient>
|
|
<background>0.8 0.9 1 1</background>
|
|
<shadows>false</shadows>
|
|
<grid>false</grid>
|
|
<origin_visual>false</origin_visual>
|
|
</scene>
|
|
|
|
<physics name='default_physics' default='0' type='ode'>
|
|
<gravity>0 0 -9.8066</gravity>
|
|
<ode>
|
|
<solver>
|
|
<type>quick</type>
|
|
<iters>10</iters>
|
|
<sor>1.3</sor>
|
|
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
|
|
</solver>
|
|
<constraints>
|
|
<cfm>0</cfm>
|
|
<erp>0.2</erp>
|
|
<contact_max_correcting_vel>100</contact_max_correcting_vel>
|
|
<contact_surface_layer>0.001</contact_surface_layer>
|
|
</constraints>
|
|
</ode>
|
|
<max_step_size>0.004</max_step_size>
|
|
<real_time_factor>1</real_time_factor>
|
|
<real_time_update_rate>250</real_time_update_rate>
|
|
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
|
|
</physics>
|
|
</world>
|
|
</sdf>
|