148 lines
4.2 KiB
XML
148 lines
4.2 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<sdf version='1.7'>
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<world name="default">
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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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</physics>
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<plugin
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filename="ignition-gazebo-physics-system"
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name="ignition::gazebo::systems::Physics">
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</plugin>
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<plugin
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filename="ignition-gazebo-user-commands-system"
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name="ignition::gazebo::systems::UserCommands">
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</plugin>
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<plugin
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filename="ignition-gazebo-scene-broadcaster-system"
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name="ignition::gazebo::systems::SceneBroadcaster">
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</plugin>
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<plugin
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filename="ignition-gazebo-contact-system"
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name="ignition::gazebo::systems::Contact">
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</plugin>
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<plugin
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filename="ignition-gazebo-sensors-system"
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name="ignition::gazebo::systems::Sensors">
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<render_enfine>ogre2</render_enfine>
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</plugin>
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<!--gui>
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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>8.3 7 7.8 0 0.5 -2.4</camera_pose>
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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_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>100 100</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>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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<include>
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<!--Нужно залить на сервер и поменять на ссылку -->
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<uri>roboasm_sgonov_world</uri>
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<pose>0 0 0.07 0 0 0</pose>
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</include>
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<include>
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<uri>realsense_camera</uri>
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<pose>1 0 1 0 0.97 3.14159</pose>
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<static>true</static>
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</include>
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<!--model name="3d_camera">
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<static>true</static>
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<link name="kinect_sensor">
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<pose>1 0 1 0 1 3.14159</pose>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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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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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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</visual>
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<sensor name="camera" type="rgbd_camera">
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<topic>rgbd_camera</topic>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<camera name="rgbd_sens">
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<image>
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<width>212</width>
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<heigth>120</heigth>
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</image>
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<horizontal_fov>1.567821</horizontal_fov>
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<vertical_fov>1.022238</vertical_fov>
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<clip>
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<near>0.01</near>
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<far>1000.0</far>
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</clip>
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<depth_camera>
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<clip>
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<near>0.01</near>
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<far>10.0</far>
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</clip>
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</depth_camera>
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<noise>
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<type>gaussian</type>
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<mean>0</mean>
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<stddev>0</stddev>
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</noise>
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<visibility_mask>2</visibility_mask>
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</camera>
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</sensor>
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</link>
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</model-->
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</world>
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</sdf>
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