cnc-graver-assist/rbs_mill_assist/world/default.sdf

<?xml version="1.0"?>
<sdf version="1.9">
  <world name="rbs_freazer_world">
    <scene>
      <ambient>1.0 1.0 1.0</ambient>
      <grid>false</grid>
    </scene>

    <physics name='1ms' type='ignored'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
      <dart>
        <!-- <collision_detector>bullet</collision_detector> -->
        <!-- <solver> -->
        <!--   <solver_type>pgs</solver_type> -->
        <!-- </solver> -->
      </dart>
    </physics>
    <plugin
      filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
      <engine>
        <filename>gz-physics-dartsim-plugin</filename>
      </engine>
    </plugin>
    <plugin
      filename="gz-sim-sensors-system"
      name="gz::sim::systems::Sensors">
      <render_engine>ogre2</render_engine>
    </plugin>
    <plugin
      filename="gz-sim-user-commands-system"
      name="gz::sim::systems::UserCommands">
    </plugin>
    <plugin
      filename="gz-sim-scene-broadcaster-system"
      name="gz::sim::systems::SceneBroadcaster">
    </plugin>
    <plugin filename="gz-sim-contact-system"
            name="gz::sim::systems::Contact">
    </plugin>

    <light type="directional" name="sun">
      <cast_shadows>true</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>
    </light>
    
    <include>
      <name>shildik_0</name>
      <pose>-0.5 -0.2 0.0 0 0 1.57</pose>
      <uri>model://shildik</uri>
    </include>
    <include>
      <name>shildik_1</name>
      <pose>-0.5 -0.2 0.0 0 0 1.57</pose>
      <uri>model://shildik</uri>
    </include>
    <include>
      <name>shildik_2</name>
      <pose>-0.5 -0.2 0.0 0 0 1.57</pose>
      <uri>model://shildik</uri>
    </include>
    <include>
      <name>shildik_3</name>
      <pose>-0.5 -0.2 0.0 0 0 1.57</pose>
      <uri>model://shildik</uri>
    </include>
    <include>
      <name>shildik_4</name>
      <pose>-0.5 -0.2 0.0 0 0 1.57</pose>
      <uri>model://shildik</uri>
    </include>

    <include>
      <static>true</static>
      <pose>0.30 0.0 0 0 0 3.14159</pose>
      <uri>model://laser</uri>
    </include>

    <!-- <include> -->
    <!--   <static>true</static> -->
    <!--   <pose>0.0 -0.3 0.0752 1.57 0 3.14159</pose> -->
    <!--   <uri>model://bunker</uri> -->
    <!-- </include> -->

  <model name="rgbd_camera">
    <pose>0 -0.93 0.42 0 0.4 1.81</pose>
    <static>1</static>
    <link name="rgbd_camera">

      <!-- Visual -->
      <visual name="visual">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>0.01 0.01 0.01</size>
          </box>
        </geometry>
        <material>
          <ambient>0 0 0 1</ambient>
          <diffuse>0 0 0 1</diffuse>
          <specular>0 0 0 1</specular>
        </material>
      </visual>

      <!-- Collision -->
      <collision name="collision">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>0.01 0.01 0.01</size>
          </box>
        </geometry>
      </collision>

      <!-- RGBD Sensor -->
      <sensor name="rgbd_camera" type="rgbd_camera">
        <camera>
          <horizontal_fov>1.047</horizontal_fov>
          <image>
            <width>1920</width>
            <height>1080</height>
            <format>R8G8B8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>3</far>
          </clip>
          <depth_camera>
            <output>depth</output>
          </depth_camera>
        </camera>
        <always_on>1</always_on>
        <update_rate>30</update_rate>
        <visualize>true</visualize>
        <topic>/rgbd_camera/image</topic>
        <enable_metrics>true</enable_metrics>
      </sensor>
    </link>
  </model>


    <model name="table">
      <static>1</static>
      <link name='table_link'>
        <pose>0 0 -0.40000000000000002 0 0 0</pose>
        <inertial>
          <pose>0 0 0 0 0 0</pose>
          <mass>10</mass>
          <inertia>
            <ixx>4.708333333333333</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>8.6666666666666661</iyy>
            <iyz>0</iyz>
            <izz>8.0416666666666661</izz>
          </inertia>
        </inertial>
        <collision name='table_link_collision'>
          <pose>0 0 0 0 0 0</pose>
          <geometry>
            <box>
              <size>1.2 0.69999999999999996 0.80000000000000004</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode/>
            </friction>
            <bounce/>
            <contact/>
          </surface>
        </collision>
        <visual name='table_link_visual'>
          <pose>0 0 0 0 0 0</pose>
          <geometry>
            <box>
              <size>1.2 0.69999999999999996 0.80000000000000004</size>
            </box>
          </geometry>
          <material>
            <diffuse>0 0 1 1</diffuse>
            <ambient>0 0 1 1</ambient>
          </material>
        </visual>
        <enable_wind>false</enable_wind>
      </link>
    </model>




  </world>
</sdf>