daily pastebin goal
27%
SHARE
TWEET

LWA Gazebo world file

0xff-mighty Feb 21st, 2013 19 Never
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
  1. <?xml version="1.0" ?>
  2. <sdf version="1.3">
  3.   <world name="default">
  4.     <physics type="ode">
  5.       <gravity>0 0 -9.81</gravity>
  6.       <ode>
  7.         <solver>
  8.           <type>quick</type>
  9.           <dt>0.001</dt>
  10.           <iters>40</iters>
  11.           <sor>1.0</sor>
  12.         </solver>
  13.         <constraints>
  14.           <cfm>0.0</cfm>
  15.           <erp>0.2</erp>
  16.           <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
  17.           <contact_surface_layer>0.0</contact_surface_layer>
  18.         </constraints>
  19.       </ode>
  20.     </physics>
  21.         <scene>
  22.                 <ambient>.0 .0 .0 1.0</ambient>
  23.                 <shadows>0</shadows>
  24.         </scene>
  25.     <light name="point_light_0" type="point">
  26.       <pose>-10.0 -10.0 .0 .0 .0 .0</pose>
  27.       <diffuse>.3 .3 .3 1.0</diffuse>
  28.       <specular>.01 .01 .01 1.0</specular>
  29.       <attenuation>
  30.         <range>20.0</range>
  31.         <linear>0.01</linear>
  32.         <constant>0.5</constant>
  33.       </attenuation>
  34.     </light>
  35.     <light name="point_light_1" type="point">
  36.       <pose>10.0 10.0 .0 .0 .0 .0</pose>
  37.       <diffuse>.3 .3 .3 1.0</diffuse>
  38.       <specular>.01 .01 .01 1.0</specular>
  39.       <attenuation>
  40.         <range>20.0</range>
  41.         <linear>0.01</linear>
  42.         <constant>0.5</constant>
  43.       </attenuation>
  44.     </light>
  45.     <!-- A global light source -->
  46.     <include>
  47.       <uri>model://sun</uri>
  48.     </include>
  49.     <!-- A ground plane -->
  50.     <include>
  51.       <uri>model://ground_plane</uri>
  52.     </include>
  53.         <!-- Schunk LWA -->
  54.         <include>
  55.                 <uri>model://schunk_lwa</uri>
  56.         </include>
  57.   </world>
  58. </sdf>
RAW Paste Data
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy. OK, I Understand
 
Top