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Merge pull request #67 from morpheus1820/madama_world
Palazzo Madama gazebo world
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,167 @@ | ||
| <sdf version='1.7'> | ||
| <world name='default'> | ||
| <model name='ground_plane'> | ||
| <static>1</static> | ||
| <link name='link'> | ||
| <collision name='collision'> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>100 100</size> | ||
| </plane> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode> | ||
| <mu>100</mu> | ||
| <mu2>50</mu2> | ||
| </ode> | ||
| <torsional> | ||
| <ode/> | ||
| </torsional> | ||
| </friction> | ||
| <contact> | ||
| <ode/> | ||
| </contact> | ||
| <bounce/> | ||
| </surface> | ||
| <max_contacts>10</max_contacts> | ||
| </collision> | ||
| <visual name='visual'> | ||
| <cast_shadows>0</cast_shadows> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>100 100</size> | ||
| </plane> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>file://media/materials/scripts/gazebo.material</uri> | ||
| <name>Gazebo/DarkGrey</name> | ||
| </script> | ||
| </material> | ||
| </visual> | ||
| <self_collide>0</self_collide> | ||
| <enable_wind>0</enable_wind> | ||
| <kinematic>0</kinematic> | ||
| </link> | ||
| </model> | ||
| <light name='sun1' 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> | ||
|
|
||
| <model name='madama_walls'> | ||
| <pose>10 -11 0 0 0 1.561</pose> | ||
| <static>1</static> | ||
| <link name='body'> | ||
| <visual name='visual'> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>palazzomadama.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| </visual> | ||
| <collision name='collision'> | ||
| <geometry> | ||
| <mesh> | ||
| <uri>palazzomadama.dae</uri> | ||
| </mesh> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <torsional> | ||
| <ode/> | ||
| </torsional> | ||
| <ode/> | ||
| </friction> | ||
| <contact> | ||
| <ode/> | ||
| </contact> | ||
| <bounce/> | ||
| </surface> | ||
| <max_contacts>2</max_contacts> | ||
| </collision> | ||
| <self_collide>0</self_collide> | ||
| <enable_wind>0</enable_wind> | ||
| <kinematic>0</kinematic> | ||
| </link> | ||
| </model> | ||
|
|
||
| <model name="SIM_CER_ROBOT"> | ||
| <include> | ||
| <uri>model://cer_no_collisions_20m</uri> | ||
| </include> | ||
| </model> | ||
|
|
||
| <gravity>0 0 -9.81</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> | ||
| <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> | ||
| <state world_name='default'> | ||
|
|
||
| <model name='ground_plane'> | ||
| <pose>0 0 0 0 -0 0</pose> | ||
| <scale>1 1 1</scale> | ||
| <link name='link'> | ||
| <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='my_mesh'> | ||
| <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> | ||
| </state> | ||
| <gui fullscreen='0'> | ||
| <camera name='user_camera'> | ||
| <pose>15.017 7.47424 32.928 0 0.933798 3.03616</pose> | ||
| <view_controller>orbit</view_controller> | ||
| <projection_type>perspective</projection_type> | ||
| </camera> | ||
| </gui> | ||
| </world> | ||
| </sdf> |
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