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world_template.sdf
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<sdf version='1.10'>
<world name='#NAME#'>
<physics type="ode">
<max_step_size>0.004</max_step_size>
<real_time_factor>1.0</real_time_factor>
<real_time_update_rate>250</real_time_update_rate>
</physics>
<plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
<plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
<plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
<plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
<plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
<plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
<plugin name='gz::sim::systems::ApplyLinkWrench' filename='gz-sim-apply-link-wrench-system'/>
<plugin name='gz::sim::systems::NavSat' filename='gz-sim-navsat-system'/>
<plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
<render_engine>ogre2</render_engine>
</plugin>
<gui fullscreen='false'>
<plugin name='3D View' filename='GzScene3D'>
<gz-gui>
<title>3D View</title>
<property type='bool' key='showTitleBar'>0</property>
<property type='string' key='state'>docked</property>
</gz-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.5984631152222222 0.5984631152222222 0.5984631152222222</ambient_light>
<background_color>0.8984631152222222 0.8984631152222222 0.8984631152222222</background_color>
<camera_pose>-4 0 5 0 0.5 0</camera_pose>
<camera_clip>
<near>0.01</near>
<far>50000</far>
</camera_clip>
</plugin>
<plugin name='World control' filename='WorldControl'>
<gz-gui>
<title>World control</title>
<property type='bool' key='showTitleBar'>0</property>
<property type='bool' key='resizable'>0</property>
<property type='double' key='height'>72</property>
<property type='double' key='width'>121</property>
<property type='double' key='z'>1</property>
<property type='string' key='state'>floating</property>
<anchors target='3D View'>
<line own='left' target='left'/>
<line own='bottom' target='bottom'/>
</anchors>
</gz-gui>
<play_pause>1</play_pause>
<step>1</step>
<start_paused>1</start_paused>
</plugin>
<plugin name='World stats' filename='WorldStats'>
<gz-gui>
<title>World stats</title>
<property type='bool' key='showTitleBar'>0</property>
<property type='bool' key='resizable'>0</property>
<property type='double' key='height'>110</property>
<property type='double' key='width'>290</property>
<property type='double' key='z'>1</property>
<property type='string' key='state'>floating</property>
<anchors target='3D View'>
<line own='right' target='right'/>
<line own='bottom' target='bottom'/>
</anchors>
</gz-gui>
<sim_time>1</sim_time>
<real_time>1</real_time>
<real_time_factor>1</real_time_factor>
<iterations>1</iterations>
</plugin>
<plugin name='Entity tree' filename='EntityTree'/>
</gui>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<scene>
<sky>1
<clouds>1
<mean_size>0.8</mean_size>
</clouds>
</sky>
<grid>false</grid>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<model name="#NAME#">
<pose>0 0 #NEG_ELEVATION# 0 0 0</pose>
<static>true</static>
<link name="body">
<visual name="visual">
<geometry>
<mesh>
<uri>model://#NAME#/materials/#NAME#.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
<!-- <collision name="visual">
<geometry>
<mesh>
<uri>model://#NAME#/materials/#NAME#.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision> -->
</link>
</model>
<model name='starting_plane'>
<static>true</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>5 5</size>
</plane>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<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>
<self_collide>false</self_collide>
</model>
<model name="navsat_model">
<link name="link">
<sensor name="navsat_sensor" type="navsat">
<always_on>1</always_on>
<update_rate>30</update_rate>
</sensor>
</link>
</model>
<light name='sunUTC' type='directional'>
<pose>0 0 500 0 -0 0</pose>
<cast_shadows>false</cast_shadows>
<intensity>1</intensity>
<direction>0.001 0.625 -0.78</direction>
<diffuse>0.904 0.904 0.904 1</diffuse>
<specular>0.271 0.271 0.271 1</specular>
<attenuation>
<range>2000</range>
<linear>0</linear>
<constant>1</constant>
<quadratic>0</quadratic>
</attenuation>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
<spherical_coordinates>1
<latitude_deg>#LATITUDE#</latitude_deg>
<longitude_deg>#LONGITUDE#</longitude_deg>
<elevation>#GLOB_ELEVATION#</elevation>
</spherical_coordinates>
</world>
</sdf>