170 lines
4.8 KiB
XML
170 lines
4.8 KiB
XML
<?xml version="1.0"?>
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<sdf version="1.9">
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<world name="rbs_freazer_world">
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<scene>
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<ambient>1.0 1.0 1.0</ambient>
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<grid>false</grid>
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</scene>
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<physics name='1ms' type='ignored'>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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<dart>
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<!-- <collision_detector>bullet</collision_detector> -->
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<!-- <solver> -->
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<!-- <solver_type>pgs</solver_type> -->
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<!-- </solver> -->
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</dart>
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</physics>
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<plugin
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filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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<engine>
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<filename>gz-physics-dartsim-plugin</filename>
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</engine>
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</plugin>
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<plugin
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filename="gz-sim-sensors-system"
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name="gz::sim::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<plugin
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filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin
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filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<plugin filename="gz-sim-contact-system"
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name="gz::sim::systems::Contact">
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</plugin>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<include>
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<name>shildik_0</name>
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<pose>0.0 -0.28 0.0 0 0 3.14159</pose>
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<uri>model://shildik</uri>
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</include>
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<include>
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<name>shildik_1</name>
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<pose>0.0 -0.28 0.01 0 0 3.14159</pose>
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<uri>model://shildik</uri>
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</include>
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<include>
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<name>shildik_2</name>
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<pose>0.0 -0.28 0.02 0 0 3.14159</pose>
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<uri>model://shildik</uri>
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</include>
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<include>
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<name>shildik_3</name>
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<pose>0.0 -0.28 0.03 0 0 3.14159</pose>
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<uri>model://shildik</uri>
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</include>
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<include>
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<name>shildik_4</name>
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<pose>0.0 -0.28 0.04 0 0 3.14159</pose>
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<uri>model://shildik</uri>
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</include>
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<include>
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<static>true</static>
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<pose>0.30 0.0 0 0 0 -1.57</pose>
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<uri>model://laser</uri>
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</include>
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<!-- <include> -->
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<!-- <static>true</static> -->
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<!-- <pose>0.0 -0.3 0.0752 1.57 0 3.14159</pose> -->
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<!-- <uri>model://bunker</uri> -->
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<!-- </include> -->
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<!-- <model name="ground_plane"> -->
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<!-- <static>true</static> -->
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<!-- <link name="link"> -->
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<!-- <collision name="collision"> -->
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<!-- <geometry> -->
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<!-- <plane> -->
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<!-- <normal>0 0 1</normal> -->
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<!-- <size>1 1</size> -->
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<!-- </plane> -->
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<!-- </geometry> -->
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<!-- </collision> -->
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<!-- <visual name="visual"> -->
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<!-- <geometry> -->
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<!-- <plane> -->
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<!-- <normal>0 0 1</normal> -->
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<!-- <size>1 1</size> -->
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<!-- </plane> -->
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<!-- </geometry> -->
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<!-- <material> -->
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<!-- <ambient>0.8 0.8 0.8 1</ambient> -->
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<!-- <diffuse>0.8 0.8 0.8 1</diffuse> -->
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<!-- <specular>0.8 0.8 0.8 1</specular> -->
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<!-- </material> -->
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<!-- </visual> -->
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<!-- </link> -->
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<!-- </model> -->
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<model name="table">
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<static>1</static>
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<link name='table_link'>
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<pose>0 0 -0.40000000000000002 0 0 0</pose>
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>10</mass>
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<inertia>
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<ixx>4.708333333333333</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>8.6666666666666661</iyy>
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<iyz>0</iyz>
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<izz>8.0416666666666661</izz>
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</inertia>
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</inertial>
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<collision name='table_link_collision'>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>1.2 0.69999999999999996 0.80000000000000004</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode/>
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</friction>
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<bounce/>
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<contact/>
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</surface>
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</collision>
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<visual name='table_link_visual'>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>1.2 0.69999999999999996 0.80000000000000004</size>
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</box>
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</geometry>
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<material>
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<diffuse>0 0 1 1</diffuse>
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<ambient>0 0 1 1</ambient>
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</material>
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</visual>
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<enable_wind>false</enable_wind>
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</link>
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</model>
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</world>
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</sdf>
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