lakehouseワールドに30cmの黒いキューブを複数配置

rt-net · Feb 9, 2024 · 2272a42 · 2272a42
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diff --git a/raspimouse_gazebo/models/cube_30cm_black/model.config b/raspimouse_gazebo/models/cube_30cm_black/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0" ?>
+
+<model>
+  <name>Black Cube 30cm</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>YusukeKato</name>
+    <email>yusuke.kato@rt-net.jp</email>
+  </author>
+
+  <description>
+    Cube
+  </description>
+</model>
diff --git a/raspimouse_gazebo/models/cube_30cm_black/model.sdf b/raspimouse_gazebo/models/cube_30cm_black/model.sdf
@@ -0,0 +1,38 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+    <model name="cube_30cm_black">
+      <link name="cube_black_link">
+        <inertial>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+          <mass>1.0</mass>
+        </inertial>
+        <collision name="cube_black_collision">
+          <geometry>
+            <box>
+              <size>0.3 0.3 0.3</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="cube_black_visual">
+          <material>
+            <ambient>0 0 0 1</ambient>
+            <diffuse>0 0 0 1</diffuse>
+            <specular>0 0 0 0</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <geometry>
+            <box>
+              <size>0.3 0.3 0.3</size>
+            </box>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+</sdf>
diff --git a/raspimouse_gazebo/worlds/lakehouse.sdf b/raspimouse_gazebo/worlds/lakehouse.sdf
@@ -42,5 +42,47 @@
       </uri>
     </include>
 
+    <model name="black_cube11">
+      <include>
+        <uri>model://cube_30cm_black</uri>
+      </include>
+      <pose>-0.5 0 0.075 0 0 0</pose>
+    </model>
+
+    <model name="black_cube12">
+      <include>
+        <uri>model://cube_30cm_black</uri>
+      </include>
+      <pose>-0.5 1.0 0.075 0 0 0</pose>
+    </model>
+
+    <model name="black_cube13">
+      <include>
+        <uri>model://cube_30cm_black</uri>
+      </include>
+      <pose>-0.5 -1.0 0.075 0 0 0</pose>
+    </model>
+
+    <model name="black_cube21">
+      <include>
+        <uri>model://cube_30cm_black</uri>
+      </include>
+      <pose>2.0 0 0.075 0 0 0</pose>
+    </model>
+
+    <model name="black_cube22">
+      <include>
+        <uri>model://cube_30cm_black</uri>
+      </include>
+      <pose>2.0 1.0 0.075 0 0 0</pose>
+    </model>
+
+    <model name="black_cube23">
+      <include>
+        <uri>model://cube_30cm_black</uri>
+      </include>
+      <pose>2.0 -1.0 0.075 0 0 0</pose>
+    </model>
+
   </world>
 </sdf>