243 lines
No EOL
7.3 KiB
XML
243 lines
No EOL
7.3 KiB
XML
<?xml version="1.0"?>
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<sdf version='1.9'>
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<world name='mir'>
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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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<real_time_update_rate>1000</real_time_update_rate>
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</physics>
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<plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
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<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
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<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
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<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type='adiabatic'/>
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>false</shadows>
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</scene>
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<gui fullscreen="0">
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<plugin filename="GzScene3D" name="3D View">
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<ignition-gui>
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<title>3D View</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="string" key="state">docked</property>
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</ignition-gui>
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<engine>ogre2</engine>
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<scene>scene</scene>
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<ambient_light>1.0 1.0 1.0</ambient_light>
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<background_color>0.4 0.6 1.0</background_color>
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<camera_pose>3.3 2.8 2.8 0 0.5 -2.4</camera_pose>
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</plugin>
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<plugin filename="WorldStats" name="World stats">
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<ignition-gui>
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<title>World stats</title>
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<property type="bool" key="showTitleBar">false</property>
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<property type="bool" key="resizable">false</property>
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<property type="double" key="height">110</property>
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<property type="double" key="width">290</property>
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<property type="double" key="z">1</property>
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<property type="string" key="state">floating</property>
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<anchors target="3D View">
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<line own="right" target="right"/>
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<line own="bottom" target="bottom"/>
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</anchors>
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</ignition-gui>
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<sim_time>true</sim_time>
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<real_time>true</real_time>
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<real_time_factor>true</real_time_factor>
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<iterations>true</iterations>
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</plugin>
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</gui>
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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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<model name='ground'>
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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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</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>100 100</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='rack'>
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<pose>0 0.7 0 0 0 0</pose>
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<static>1</static>
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<link name='body'>
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<visual name='visual'>
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<geometry>
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<mesh>
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<scale>0.35 0.35 0.35</scale>
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<uri>model://rack/model/rack.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<collision name='collision'>
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<geometry>
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<mesh>
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<scale>0.35 0.35 0.35</scale>
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<uri>model://rack/model/rack.stl</uri>
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</mesh>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</surface>
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</collision>
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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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</link>
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</model>
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<model name='table'>
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<pose>-0.75 0 0.2 0 0 0</pose>
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<static>1</static>
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<link name='telo'>
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<visual name='visual'>
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<geometry>
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<!-- <mesh>
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<scale>1 1 1</scale>
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<uri>model://table/model/table.dae</uri>
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</mesh> -->
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<box>
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<size>0.8 0.8 0.4</size>
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</box>
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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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<collision name='collision'>
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<geometry>
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<!-- <mesh>
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<scale>1 1 1</scale>
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<uri>model://table/model/table.stl</uri>
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</mesh> -->
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<box>
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<size>0.8 0.8 0.4</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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</torsional>
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<ode/>
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</friction>
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</surface>
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</collision>
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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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</link>
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</model>
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<include>
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<uri>model://box1</uri>
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<name>box1</name>
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<pose>0.25 0.65 0.6515 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box2</name>
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<pose>0 0.65 0.6515 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box3</name>
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<pose>-0.25 0.65 0.6515 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box4</name>
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<pose>0.25 0.65 0.3015 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box5</name>
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<pose>0 0.65 0.3015 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>box6</name>
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<pose>-0.25 0.65 0.3015 0 0 0</pose>
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</include>
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<!-- <include>
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<uri>model://box1</uri>
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<name>pyramid1</name>
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<pose>-0.9000 -0.05 0.5250 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>pyramid2</name>
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<pose>-0.9000 0.0 0.5250 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>pyramid3</name>
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<pose>-0.9000 0.05 0.5250 0 0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>pyramid4</name>
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<pose>-0.9 -0.0243 0.5750 0 -0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>pyramid5</name>
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<pose>-0.9 0.0260 0.5750 0 -0 0</pose>
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</include>
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<include>
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<uri>model://box1</uri>
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<name>pyramid6</name>
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<pose>-0.9 0 0.6250 0 0 0</pose>
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</include> -->
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</world>
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</sdf> |