cart_pole.world

<?xml version="1.0" ?>
<sdf version="1.5">
<!-- gazebo world file -->
<!-- if you want to speed up the simulation change -->
<!-- real_time_update_rate and max_step_size -->
<!-- their product gives real_time_factor -->
  <world name="default">

    <plugin name="time_limit" filename="libgazebo_ros_time_limit.so">
      <max_time>20.0</max_time> <!-- Set the maximum simulation time in seconds -->
    </plugin>
    <!-- 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. -->
<!--  this factor actually is computed by multiplying the other two -->
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate> 
    </physics>
  </world>
</sdf>