From f6ee0e36c9cc075e5f007c44e95dc3aaa7736a57 Mon Sep 17 00:00:00 2001
From: Greg Brown <gmb60@cam.ac.uk>
Date: Sun, 30 Jan 2022 23:50:36 +0000
Subject: Initial commit

---
 worlds/simple.world | 52 ++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 52 insertions(+)
 create mode 100644 worlds/simple.world

(limited to 'worlds/simple.world')

diff --git a/worlds/simple.world b/worlds/simple.world
new file mode 100644
index 0000000..d5bf996
--- /dev/null
+++ b/worlds/simple.world
@@ -0,0 +1,52 @@
+<sdf version='1.6'>
+  <world name='default'>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <physics type="ode">
+      <real_time_update_rate>100.0</real_time_update_rate>
+      <max_step_size>0.01</max_step_size>
+      <real_time_factor>0.5</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+    <!-- Load world -->
+    <include>
+      <uri>model://simple_world</uri>
+    </include>
+
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>0.8 0.0 12.0 0 1.5708 0</pose>
+        <view_controller>orbit</view_controller>
+      </camera>
+    </gui>
+  </world>
+</sdf>
-- 
cgit v1.2.3