raceway.world

<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="default">
    <scene>
      <ambient>0.95 0.95 0.95 1</ambient>
      <background>0.3 0.3 0.3 1</background>
      <shadows>true</shadows>
    </scene>
    <include>
      <uri>model://sun</uri>
    </include>
    <model name="custom_ground_plane">
      <static>true</static>
      <link name="ground_plane_link">
        <collision name="ground_plane_collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>1000 1000</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="ground_plane_visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>1000 1000</size>
            </plane>
          </geometry>
        </visual>
      </link>
      <pose>0 0 0 0 0 0</pose>
    </model>
    <include>
      <uri>model://sonoma_raceway</uri>
      <pose>-287.5 143.5 -7 0 0 0</pose>
    </include>
    <include>
      <uri>model://arocs_truck</uri>
      <pose>-1.8 2.02 0.38 0 0 2.482566</pose>
    </include>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>38.161479</latitude_deg>
      <longitude_deg>-122.454630</longitude_deg>
      <elevation>488.0</elevation>
      <heading_deg>180</heading_deg>
    </spherical_coordinates>
    <physics type="ode">
      <real_time_update_rate>100.0</real_time_update_rate>
      <max_step_size>0.01</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>
</sdf>