single_pendulum_world.sdf

<?xml version="1.0"?>

<sdf version="1.7">
  <world name="tutorial_controlboard">
    <physics name="1ms" type="ignored">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>
    <plugin
      filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
    </plugin>
    <plugin
      filename="gz-sim-user-commands-system"
      name="gz::sim::systems::UserCommands">
    </plugin>
    <plugin
      filename="gz-sim-sensors-system"
      name="gz::sim::systems::Sensors">
    </plugin>
    <plugin
      filename="gz-sim-scene-broadcaster-system"
      name="gz::sim::systems::SceneBroadcaster">
    </plugin>

    <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>
      <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>

    <!-- This is an example of how to override the initial configuration -->
    <model name="single_pendulum_with_overidden_initial_configuration">
      <plugin name='gzyarp::ConfigurationOverride' filename='gz-sim-yarp-configurationoverride-system'>
        <!-- The yarpPluginConfigurationOverride device is used to override the configuration of
             a given yarp device, whose name is specified via the yarpDeviceName attribute -->
        <yarpPluginConfigurationOverride yarpDeviceName='controlboard_plugin_device'/>
        <!-- If you want to override the initialConfiguration xml element, set it -->
        <initialConfiguration>0.785398</initialConfiguration>
      </plugin>

      <include>
        <uri>model://single_pendulum/model.sdf</uri>
      </include>
    </model>

  </world>
</sdf>