apply wrench in example world

Signed-off-by: Louise Poubel <louise@openrobotics.org>
gazebosim · Jul 25, 2022 · ecebb84 · ecebb84
1 parent 4281f41
commit ecebb84
Showing 1 changed file with 36 additions and 2 deletions.
diff --git a/examples/worlds/fluid_added_mass.sdf b/examples/worlds/fluid_added_mass.sdf
@@ -6,6 +6,40 @@ Demo of fluid added mass SDF parameter.
 -->
 <sdf version="1.6">
   <world name="fluid_added_mass">
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-apply-link-wrench-system"
+      name="gz::sim::systems::ApplyLinkWrench">
+
+      <persistent>
+        <entity_name>sphere_no_added_mass</entity_name>
+        <entity_type>model</entity_type>
+        <force>1 0 0</force>
+      </persistent>
+
+      <persistent>
+        <entity_name>sphere_in_water</entity_name>
+        <entity_type>model</entity_type>
+        <force>1 0 0</force>
+      </persistent>
+
+      <persistent>
+        <entity_name>sphere_in_air</entity_name>
+        <entity_type>model</entity_type>
+        <force>1 0 0</force>
+      </persistent>
+
+    </plugin>
+
+    <gravity>0 0 0</gravity>
+
     <light type="directional" name="sun">
       <cast_shadows>true</cast_shadows>
       <pose>0 0 10 0 0 0</pose>
@@ -156,8 +190,8 @@ Demo of fluid added mass SDF parameter.
             </sphere>
           </geometry>
           <material>
-            <ambient>1 0 1 1</ambient>
-            <diffuse>1 0 1 1</diffuse>
+            <ambient>0 1 1 1</ambient>
+            <diffuse>0 1 1 1</diffuse>
             <specular>1 0 1 1</specular>
           </material>
         </visual>