course.world

<?xml version="1.0"?> 
<sdf version="1.4">
  <world name="default">
    <scene>
      <ambient>0 0 0 1</ambient>
      <shadows>0</shadows>
      <grid>0</grid>
      <background>0.7 0.7 0.7 1</background>
    </scene>
    <!--
    <physics type="ode">
      <gravity>0 0 -9.8</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <iters>10</iters>
          <sor>1.3</sor>
        </solver>
        <constraints>
          <cfm>0</cfm>
          <erp>0.1</erp>
          <contact_max_correcting_vel>10</contact_max_correcting_vel>
          <contact_surface_layer>0.001</contact_surface_layer>
        </constraints>
      </ode>
      <real_time_update_rate>1000</real_time_update_rate>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
    </physics>
    -->
    <include>
      <uri>model://sun</uri>
    </include>
    <model name="ground">
      <pose>1 2.3 -.1 0 0 0</pose>
      <static>1</static>
      <link name="ground">
        <collision name="ground_coll">
          <geometry>
            <box>
              <size>10 10 .1</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name="ground_vis">
          <geometry>
            <box>
              <size>10 10 .1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://course.material</uri>
              <name>course</name>
            </script>
          </material>
        </visual>
      </link>
    </model>
  </world>
</sdf>