forked from xtdrone/XTDrone
163 lines
4.4 KiB
XML
163 lines
4.4 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.6">
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<world name="default">
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<gui>
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<camera name="user_camera">
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<pose>-5 0 1 0 0.2 0</pose>
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</camera>
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</gui>
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<physics name='default_physics' default='0' type='ode'>
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<gravity>0 0 -9.8066</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<iters>10</iters>
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<sor>1.3</sor>
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<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
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</solver>
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<constraints>
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<cfm>0</cfm>
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<erp>0.2</erp>
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<contact_max_correcting_vel>100</contact_max_correcting_vel>
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<contact_surface_layer>0.001</contact_surface_layer>
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</constraints>
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</ode>
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<max_step_size>0.002</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>500</real_time_update_rate>
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<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
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</physics>
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<gravity>0 0 -9.8</gravity>
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<include>
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<uri>model://sun</uri>
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</include>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>5000 5000</size>
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</plane>
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</geometry>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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</friction>
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</collision>
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<visual name="runway">
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<pose>000 0 0.05 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>1829 45</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Runway</name>
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</script>
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</material>
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</visual>
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<visual name="runway2">
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<pose>50 500 0.05 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>1829 45</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Runway</name>
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</script>
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</material>
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</visual>
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<visual name="runway3">
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<pose>0 -500 0.05 0 0 3.14</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>1829 45</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Runway</name>
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</script>
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</material>
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</visual>
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<visual name="gary1">
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<pose>0 250 0.01 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>500 500</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Gray</name>
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</script>
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</material>
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</visual>
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<visual name="gary3">
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<pose>0 -250 0.01 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>500 500</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Gray</name>
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</script>
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</material>
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</visual>
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<visual name="grass">
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<pose>0 0 -0.1 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>3000 3000</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grass</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</world>
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</sdf>
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