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Set collision detector and solver from SDF (#684)
Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Ashton Larkin <[email protected]>
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<?xml version="1.0" ?> | ||
<!-- | ||
Demo using custom physics options | ||
--> | ||
<sdf version="1.8"> | ||
<world name="shapes"> | ||
<physics name="1ms" type="ignored"> | ||
<max_step_size>0.001</max_step_size> | ||
<real_time_factor>1.0</real_time_factor> | ||
<dart> | ||
<collision_detector>bullet</collision_detector> | ||
<solver> | ||
<solver_type>pgs</solver_type> | ||
</solver> | ||
</dart> | ||
</physics> | ||
|
||
<light type="directional" name="sun"> | ||
<cast_shadows>true</cast_shadows> | ||
<pose>0 0 10 0 0 0</pose> | ||
<diffuse>0.8 0.8 0.8 1</diffuse> | ||
<specular>0.2 0.2 0.2 1</specular> | ||
<attenuation> | ||
<range>1000</range> | ||
<constant>0.9</constant> | ||
<linear>0.01</linear> | ||
<quadratic>0.001</quadratic> | ||
</attenuation> | ||
<direction>-0.5 0.1 -0.9</direction> | ||
</light> | ||
|
||
<model name="ground_plane"> | ||
<static>true</static> | ||
<pose>0 0 -0.5 0 -0.52 0</pose> | ||
<link name="link"> | ||
<collision name="collision"> | ||
<geometry> | ||
<plane> | ||
<normal>0 0 1</normal> | ||
<size>100 100</size> | ||
</plane> | ||
</geometry> | ||
</collision> | ||
<visual name="visual"> | ||
<geometry> | ||
<plane> | ||
<normal>0 0 1</normal> | ||
<size>100 100</size> | ||
</plane> | ||
</geometry> | ||
<material> | ||
<ambient>0.8 0.8 0.8 1</ambient> | ||
<diffuse>0.8 0.8 0.8 1</diffuse> | ||
<specular>0.8 0.8 0.8 1</specular> | ||
</material> | ||
</visual> | ||
</link> | ||
</model> | ||
|
||
<model name="box"> | ||
<pose>0 0 0.5 0 0 0</pose> | ||
<link name="box_link"> | ||
<inertial> | ||
<inertia> | ||
<ixx>1</ixx> | ||
<ixy>0</ixy> | ||
<ixz>0</ixz> | ||
<iyy>1</iyy> | ||
<iyz>0</iyz> | ||
<izz>1</izz> | ||
</inertia> | ||
<mass>1.0</mass> | ||
</inertial> | ||
<collision name="box_collision"> | ||
<geometry> | ||
<box> | ||
<size>1 1 1</size> | ||
</box> | ||
</geometry> | ||
</collision> | ||
|
||
<visual name="box_visual"> | ||
<geometry> | ||
<box> | ||
<size>1 1 1</size> | ||
</box> | ||
</geometry> | ||
<material> | ||
<ambient>1 0 0 1</ambient> | ||
<diffuse>1 0 0 1</diffuse> | ||
<specular>1 0 0 1</specular> | ||
</material> | ||
</visual> | ||
</link> | ||
</model> | ||
|
||
<model name="cylinder"> | ||
<pose>0 -1.5 0.5 1.57079632679 0 0</pose> | ||
<link name="cylinder_link"> | ||
<inertial> | ||
<inertia> | ||
<ixx>2</ixx> | ||
<ixy>0</ixy> | ||
<ixz>0</ixz> | ||
<iyy>2</iyy> | ||
<iyz>0</iyz> | ||
<izz>2</izz> | ||
</inertia> | ||
<mass>2.0</mass> | ||
</inertial> | ||
<collision name="cylinder_collision"> | ||
<geometry> | ||
<cylinder> | ||
<radius>0.5</radius> | ||
<length>1.0</length> | ||
</cylinder> | ||
</geometry> | ||
</collision> | ||
|
||
<visual name="cylinder_visual"> | ||
<geometry> | ||
<cylinder> | ||
<radius>0.5</radius> | ||
<length>1.0</length> | ||
</cylinder> | ||
</geometry> | ||
<material> | ||
<ambient>0 1 0 1</ambient> | ||
<diffuse>0 1 0 1</diffuse> | ||
<specular>0 1 0 1</specular> | ||
</material> | ||
</visual> | ||
</link> | ||
</model> | ||
|
||
<model name="sphere"> | ||
<pose>0 1.5 0.5 0 0 0</pose> | ||
<link name="sphere_link"> | ||
<inertial> | ||
<inertia> | ||
<ixx>3</ixx> | ||
<ixy>0</ixy> | ||
<ixz>0</ixz> | ||
<iyy>3</iyy> | ||
<iyz>0</iyz> | ||
<izz>3</izz> | ||
</inertia> | ||
<mass>3.0</mass> | ||
</inertial> | ||
<collision name="sphere_collision"> | ||
<geometry> | ||
<sphere> | ||
<radius>0.5</radius> | ||
</sphere> | ||
</geometry> | ||
</collision> | ||
|
||
<visual name="sphere_visual"> | ||
<geometry> | ||
<sphere> | ||
<radius>0.5</radius> | ||
</sphere> | ||
</geometry> | ||
<material> | ||
<ambient>0 0 1 1</ambient> | ||
<diffuse>0 0 1 1</diffuse> | ||
<specular>0 0 1 1</specular> | ||
</material> | ||
</visual> | ||
</link> | ||
</model> | ||
</world> | ||
</sdf> |
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