ship_interior.world

<sdf version="1.4">
	<world name="default">
		<physics type='ode'>
			<gravity>0 0 -1</gravity>
			<ode>
				<solver>
					<type>quick</type>
					<iters>20</iters>
					<sor>1</sor>
				</solver>
				<constraints>
					<cfm>0</cfm>
					<erp>0.2</erp>
					<contact_max_correcting_vel>100</contact_max_correcting_vel>
					<contact_surface_layer>0</contact_surface_layer>
				</constraints>
			</ode>
			<max_step_size>0.003</max_step_size>
			<real_time_factor>1</real_time_factor>
			<real_time_update_rate>1000</real_time_update_rate>
		</physics>

		<scene>
			<grid>false</grid>
		</scene>

		<light name='sun' type='directional'>
			<cast_shadows>1</cast_shadows>
			<pose>2 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>

		<include>
			<uri>model://ground_plane</uri>
		</include>

		<model name="ship_interior">
			<pose>0.0 0.0 0.0 0.0 0.0 0</pose>
			<static>true</static>
			<link name="body">
				<visual name="visual">
					<transparency>0.75</transparency>
					<geometry>
						<mesh>
							<uri>model://ship_interior/meshes/ship_interior.stl</uri>
						</mesh>
					</geometry>
				</visual>
				<collision name="collision">
					<geometry>
						<mesh>
							<uri>model://ship_interior/meshes/ship_interior.stl</uri>
						</mesh>
					</geometry>
				</collision>
			</link>
		</model>
		
		<gui fullscreen='0'>
			<camera name='user_camera'>
				<pose>-1.19228 2.00371 15.0605 3.14159 1.57079 3.14159</pose>
				<view_controller>orbit</view_controller>
			</camera>
		</gui>
	</world>
</sdf>