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add gazebo sklad scene v3

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brothermechanic 2023-02-28 12:42:26 +03:00
parent 889c778c34
commit f46218b8fc
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16
gazebo/sklad/models/floor/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>floor</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>brothermechanic</name>
<email>brothermechanic@gmail.com</email>
</author>
<description>
floor
</description>
</model>

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gazebo/sklad/models/floor/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="floor">
<pose>0 0 0 0 0 0</pose>
<static>true</static>
<link name="body">
<visual name="visual">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://floor/model/floor.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://floor/model/floor.stl</uri>
</mesh>
</geometry>
</collision>
</link>
</model>
</sdf>

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gazebo/sklad/models/korobka/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>korobka</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>brothermechanic</name>
<email>brothermechanic@gmail.com</email>
</author>
<description>
korobka
</description>
</model>

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gazebo/sklad/models/korobka/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="korobka">
<pose>0 0 0 0 0 0</pose>
<static>true</static>
<link name="body">
<visual name="visual">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://korobka/model/korobka.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://korobka/model/korobka.stl</uri>
</mesh>
</geometry>
</collision>
</link>
</model>
</sdf>

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gazebo/sklad/models/metal/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>metal</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>brothermechanic</name>
<email>brothermechanic@gmail.com</email>
</author>
<description>
metal
</description>
</model>

25
gazebo/sklad/models/metal/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="metal">
<pose>0 0 0 0 0 0</pose>
<static>true</static>
<link name="body">
<visual name="visual">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://metal/model/metal.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://metal/model/metal.stl</uri>
</mesh>
</geometry>
</collision>
</link>
</model>
</sdf>

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gazebo/sklad/models/paleta/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>paleta</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>brothermechanic</name>
<email>brothermechanic@gmail.com</email>
</author>
<description>
paleta
</description>
</model>

25
gazebo/sklad/models/paleta/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="paleta">
<pose>0 0 0 0 0 0</pose>
<static>true</static>
<link name="body">
<visual name="visual">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://paleta/model/paleta.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://paleta/model/paleta.stl</uri>
</mesh>
</geometry>
</collision>
</link>
</model>
</sdf>

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16
gazebo/sklad/models/stelaj/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>stelaj</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>brothermechanic</name>
<email>brothermechanic@gmail.com</email>
</author>
<description>
stelaj
</description>
</model>

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gazebo/sklad/models/stelaj/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="stelaj">
<pose>0 0 0 0 0 0</pose>
<static>true</static>
<link name="body">
<visual name="visual">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://stelaj/model/stelaj.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://stelaj/model/stelaj.stl</uri>
</mesh>
</geometry>
</collision>
</link>
</model>
</sdf>

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16
gazebo/sklad/models/top/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>top</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>brothermechanic</name>
<email>brothermechanic@gmail.com</email>
</author>
<description>
top
</description>
</model>

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gazebo/sklad/models/top/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="top">
<pose>0 0 0 0 0 0</pose>
<static>true</static>
<link name="body">
<visual name="visual">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://top/model/top.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://top/model/top.stl</uri>
</mesh>
</geometry>
</collision>
</link>
</model>
</sdf>

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16
gazebo/sklad/models/wall1/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>wall1</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>brothermechanic</name>
<email>brothermechanic@gmail.com</email>
</author>
<description>
wall1
</description>
</model>

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gazebo/sklad/models/wall1/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="wall1">
<pose>0 0 0 0 0 0</pose>
<static>true</static>
<link name="body">
<visual name="visual">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://wall1/model/wall1.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://wall1/model/wall1.stl</uri>
</mesh>
</geometry>
</collision>
</link>
</model>
</sdf>

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16
gazebo/sklad/models/wall2/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>wall2</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>brothermechanic</name>
<email>brothermechanic@gmail.com</email>
</author>
<description>
wall2
</description>
</model>

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gazebo/sklad/models/wall2/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="wall2">
<pose>0 0 0 0 0 0</pose>
<static>true</static>
<link name="body">
<visual name="visual">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://wall2/model/wall2.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://wall2/model/wall2.stl</uri>
</mesh>
</geometry>
</collision>
</link>
</model>
</sdf>

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16
gazebo/sklad/models/wall3/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>wall3</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>brothermechanic</name>
<email>brothermechanic@gmail.com</email>
</author>
<description>
wall3
</description>
</model>

25
gazebo/sklad/models/wall3/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="wall3">
<pose>0 0 0 0 0 0</pose>
<static>true</static>
<link name="body">
<visual name="visual">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://wall3/model/wall3.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://wall3/model/wall3.stl</uri>
</mesh>
</geometry>
</collision>
</link>
</model>
</sdf>

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16
gazebo/sklad/models/wall4/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>wall4</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>brothermechanic</name>
<email>brothermechanic@gmail.com</email>
</author>
<description>
wall4
</description>
</model>

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gazebo/sklad/models/wall4/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="wall4">
<pose>0 0 0 0 0 0</pose>
<static>true</static>
<link name="body">
<visual name="visual">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://wall4/model/wall4.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://wall4/model/wall4.stl</uri>
</mesh>
</geometry>
</collision>
</link>
</model>
</sdf>

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599
gazebo/sklad/sklad.sdf Normal file
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<sdf version='1.7'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose>0 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>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics 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>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<audio>
<device>default</device>
</audio>
<wind/>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='floor'>
<pose>-5.29753 1.19802 0 0 -0 0</pose>
<static>1</static>
<link name='body'>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://floor/model/floor.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://floor/model/floor.stl</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<model name='metal'>
<pose>-11.0424 4.5098 0 0 -0 0</pose>
<static>1</static>
<link name='body'>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://metal/model/metal.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://metal/model/metal.stl</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<model name='top'>
<pose>-2.53786 1.93389 0 0 -0 0</pose>
<static>1</static>
<link name='body'>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://top/model/top.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://top/model/top.stl</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<model name='wall1'>
<pose>-4.04932 3.16664 0 0 -0 0</pose>
<static>1</static>
<link name='body'>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://wall1/model/wall1.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://wall1/model/wall1.stl</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<model name='wall2'>
<pose>1.90315 2.37014 0 0 -0 0</pose>
<static>1</static>
<link name='body'>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://wall2/model/wall2.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://wall2/model/wall2.stl</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<model name='wall3'>
<pose>2.46521 -1.24119 0 0 -0 0</pose>
<static>1</static>
<link name='body'>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://wall3/model/wall3.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://wall3/model/wall3.stl</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<model name='wall4'>
<pose>-6.83898 3.30476 0 0 -0 0</pose>
<static>1</static>
<link name='body'>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://wall4/model/wall4.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://wall4/model/wall4.stl</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<state world_name='default'>
<sim_time>1227 197000000</sim_time>
<real_time>236 650142613</real_time>
<wall_time>1677502521 329872050</wall_time>
<iterations>235945</iterations>
<model name='floor'>
<pose>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='body'>
<pose>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='korobka'>
<pose>3.28267 -5.62091 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='body'>
<pose>3.28267 -5.62091 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='metal'>
<pose>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='body'>
<pose>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='stelaj'>
<pose>-1.27376 0.648476 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='body'>
<pose>-1.27376 0.648476 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='top'>
<pose>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='body'>
<pose>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='wall1'>
<pose>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='body'>
<pose>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='wall2'>
<pose>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='body'>
<pose>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='wall3'>
<pose>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='body'>
<pose>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='wall4'>
<pose>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='body'>
<pose>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<light name='sun'>
<pose>0 0 10 0 -0 0</pose>
</light>
<light name='user_spot_light_0'>
<pose>0 0 9 0 -0 0</pose>
</light>
<light name='user_spot_light_0_clone'>
<pose>-10.3808 0 9 0 -0 0</pose>
</light>
<light name='user_spot_light_0_clone_clone'>
<pose>10 0 9 0 -0 0</pose>
</light>
<light name='user_spot_light_1'>
<pose>0 10 9 0 -0 0</pose>
</light>
<light name='user_spot_light_2'>
<pose>0 -10 9 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>-4.4268 -19.7996 9.48411 0 0.195641 1.28734</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
<model name='stelaj'>
<pose>-1.27376 0.648476 0 0 -0 0</pose>
<static>1</static>
<link name='body'>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://stelaj/model/stelaj.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://stelaj/model/stelaj.stl</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<model name='korobka'>
<pose>3.28267 -5.62091 0 0 -0 0</pose>
<static>1</static>
<link name='body'>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://korobka/model/korobka.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://korobka/model/korobka.stl</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<light name='user_spot_light_0' type='spot'>
<pose>-1.12707 -0.402347 1 0 -0 0</pose>
<diffuse>0.5 0.5 0.5 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<direction>0 0 -1</direction>
<attenuation>
<range>20</range>
<constant>0.5</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<cast_shadows>0</cast_shadows>
<spot>
<inner_angle>0.6</inner_angle>
<outer_angle>1</outer_angle>
<falloff>1</falloff>
</spot>
</light>
<light name='user_spot_light_1' type='spot'>
<pose>49.5097 -100.198 1 0 -0 0</pose>
<diffuse>0.5 0.5 0.5 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<direction>0 0 -1</direction>
<attenuation>
<range>20</range>
<constant>0.5</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<cast_shadows>0</cast_shadows>
<spot>
<inner_angle>0.6</inner_angle>
<outer_angle>1</outer_angle>
<falloff>1</falloff>
</spot>
</light>
<light name='user_spot_light_2' type='spot'>
<pose>312.912 104.196 1 0 -0 0</pose>
<diffuse>0.5 0.5 0.5 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<direction>0 0 -1</direction>
<attenuation>
<range>20</range>
<constant>0.5</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<cast_shadows>0</cast_shadows>
<spot>
<inner_angle>0.6</inner_angle>
<outer_angle>1</outer_angle>
<falloff>1</falloff>
</spot>
</light>
<light name='user_spot_light_0_clone' type='spot'>
<pose>-10.3808 -8.39179 9 0 -0 0</pose>
<diffuse>0.5 0.5 0.5 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<direction>0 0 -1</direction>
<attenuation>
<range>20</range>
<constant>0.5</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<cast_shadows>0</cast_shadows>
<spot>
<inner_angle>0.6</inner_angle>
<outer_angle>1</outer_angle>
<falloff>1</falloff>
</spot>
</light>
<light name='user_spot_light_0_clone_clone' type='spot'>
<pose>-0.602292 -0.05638 9 0 -0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.0980392 0.0980392 0.0980392 1</specular>
<direction>0 0 -1</direction>
<attenuation>
<range>20</range>
<constant>0.5</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<cast_shadows>0</cast_shadows>
<spot>
<inner_angle>0.6</inner_angle>
<outer_angle>1</outer_angle>
<falloff>1</falloff>
</spot>
</light>
</world>
</sdf>