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water_graded.sdf
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<sdf version='1.9'>
<world name='task-1'>
<physics name='1ms' type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
<plugin name='ignition::gazebo::systems::Buoyancy' filename='ignition-gazebo-buoyancy-system'>
<graded_buoyancy>
<default_density>1000</default_density>
<density_change>
<above_depth>0</above_depth>
<density>1</density>
</density_change>
</graded_buoyancy>
<enable>sphere</enable>
<enable>sphere_0</enable>
</plugin>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<model name='water_plane'>
<static>true</static>
<link name='link'>
<visual name='water_plane'>
<geometry>
<plane>
<size>100 100</size>
<normal>0 0 1</normal>
</plane>
</geometry>
<material>
<ambient>0 0 1 0.5</ambient>
<diffuse>0 0 1 0.5</diffuse>
<specular>0 0 1 0.5</specular>
</material>
</visual>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<enable_wind>false</enable_wind>
</link>
<pose>0 0 0 0 -0 0</pose>
<self_collide>false</self_collide>
</model>
<model name='sphere'>
<pose>0 0 0 0 -0 0</pose>
<link name='sphere_link'>
<inertial>
<inertia>
<ixx>0.10000000000000001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.10000000000000001</iyy>
<iyz>0</iyz>
<izz>0.10000000000000001</izz>
</inertia>
<mass>25</mass>
<pose>0 0 0 0 -0 0</pose>
</inertial>
<collision name='sphere_collision'>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='sphere_visual'>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
<pose>0 0 0 0 -0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<model name='sphere_0'>
<pose>1.08059 4.03201 0.5 0 -0 0</pose>
<link name='sphere_link'>
<inertial>
<inertia>
<ixx>0.10000000000000001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.10000000000000001</iyy>
<iyz>0</iyz>
<izz>0.10000000000000001</izz>
</inertia>
<mass>25</mass>
<pose>0 0 0 0 -0 0</pose>
</inertial>
<collision name='sphere_collision'>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='sphere_visual'>
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
<pose>0 0 0 0 -0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>
<light name='sun' type='directional'>
<pose>0 0 10 0 -0 0</pose>
<cast_shadows>true</cast_shadows>
<intensity>1</intensity>
<direction>-0.5 0.1 -0.9</direction>
<diffuse>1 1 1 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<attenuation>
<range>1000</range>
<linear>0.01</linear>
<constant>0.90000000000000002</constant>
<quadratic>0.001</quadratic>
</attenuation>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
</world>
</sdf>