55 lines
1.3 KiB
XML
55 lines
1.3 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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<include>
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<uri>model://ground_plane</uri>
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</include>
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<include>
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<uri>model://sun</uri>
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</include>
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<scene>
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<shadows>false</shadows>
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</scene>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose frame=''>0 0 10 0 1.570796 0</pose>
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<view_controller>orbit</view_controller>
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<projection_type>perspective</projection_type>
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</camera>
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</gui>
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<physics type="ode">
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<real_time_update_rate>1000.0</real_time_update_rate>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<ode>
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<solver>
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<type>quick</type>
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<iters>150</iters>
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<precon_iters>0</precon_iters>
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<sor>1.400000</sor>
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<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
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</solver>
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<constraints>
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<cfm>0.00001</cfm>
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<erp>0.2</erp>
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<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
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<contact_surface_layer>0.01000</contact_surface_layer>
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</constraints>
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</ode>
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</physics>
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<model name="turtlebot3_world">
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<static>1</static>
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<include>
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<uri>model://turtlebot3_world</uri>
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</include>
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</model>
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</world>
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</sdf>
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