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test_world.sdf
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test_world.sdf
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<sdf version='1.6'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.5 -1</direction>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<model name='path'>
<static>true</static>
<link name='points'>
<visual name='point1'>
<pose>0 0 .5 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<transparency>0.5</transparency>
<geometry>
<cylinder>
<radius>.05</radius>
<length>1</length>
</cylinder>
</geometry>
</visual>
<visual name='point2'>
<pose>5 2 .5 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<transparency>0.5</transparency>
<geometry>
<cylinder>
<radius>.05</radius>
<length>1</length>
</cylinder>
</geometry>
</visual>
<visual name='point3'>
<pose>2 5 .5 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<transparency>0.5</transparency>
<geometry>
<cylinder>
<radius>.05</radius>
<length>1</length>
</cylinder>
</geometry>
</visual>
<visual name='point4'>
<pose>-5 2 .5 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<transparency>0.5</transparency>
<geometry>
<cylinder>
<radius>.05</radius>
<length>1</length>
</cylinder>
</geometry>
</visual>
</link>
</model>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics name='default_physics' default='0' type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<state world_name='default'>
<sim_time>75 715000000</sim_time>
<real_time>76 10544722</real_time>
<wall_time>1461163144 22062939</wall_time>
<iterations>75715</iterations>
<model name='ground_plane'>
<pose frame=''>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<light name='sun'>
<pose frame=''>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>19.9998 23.1332 26.8868 0 0.611643 -2.35099</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
</world>
</sdf>