mirror of
https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
synced 2025-09-15 13:08:35 +08:00
42 lines
1.0 KiB
Plaintext
42 lines
1.0 KiB
Plaintext
<sdf version="1.4">
|
|
<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>1000.0</real_time_update_rate>
|
|
<max_step_size>0.001</max_step_size>
|
|
<real_time_factor>1</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>
|
|
</world>
|
|
|
|
<scene>
|
|
<ambient>0.8 0.8 0.8 1</ambient>
|
|
<background>0.7 0.7 0.7 1</background>
|
|
<shadows>true</shadows>
|
|
</scene>
|
|
|
|
</sdf>
|