ghost.world

<?xml version="1.0" ?>

<!-- 
MIT License (modified)

Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <vvasilo@seas.upenn.edu>

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-->

<sdf version="1.4">
  <world name="default">
    <!-- Target real time factor is the product of max_step_size and real_time_update_rate -->
    <!-- Negative real_time_update_rate means that Gazebo will run as fast as possible -->
    <!-- A max_step_size of 0.0003 seems to work for Minitaur and 0.00005 for Vision -->
    <physics type="ode">
      <max_step_size>0.0001</max_step_size>
      <real_time_update_rate>10000</real_time_update_rate>
    </physics>
    <!-- <gravity>0 0 0</gravity> -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>
    <include>
      <uri>model://gas_station</uri>
      <name>gas_station</name>
      <pose>-2.0 7.0 0 0 0 0</pose>
    </include>
  </world>
</sdf>