simulator.world

<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <physics name='default_physics' default='0' type='ode'>
      <!-- the max step size is set to 0.001 by default. -->
      <!-- When increasing it, the simulation quality may suffer. -->
      <max_step_size>0.002</max_step_size>
      <!-- this factor actually is computed by multiplying the other two -->
      <real_time_factor>0.2</real_time_factor>
      <real_time_update_rate>100</real_time_update_rate>
    </physics>
  </world>
</sdf>