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scenario1.world
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scenario1.world
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<?xml version="1.0"?>
<sdf version="1.5">
<world name="default">
<light name='sun' 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>0.1 0.1 0.1 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.5 -1</direction>
</light>
<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>
</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/Grey</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<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>
<gravity>0 0 -9.81</gravity>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<!--include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include-->
<model name="WipeBoard">
<pose>0.753698 0 0.464900 0 -0.785398 0</pose>
<static>true</static>
<link name="wbLink">
<collision name="wbCollision">
<geometry>
<box>
<size>0.762456 1.072930 0.025</size>
</box>
</geometry>
</collision>
<visual name="wbVisual">
<geometry>
<box>
<size>0.762456 1.072930 0.025</size>
</box>
</geometry>
</visual>
</link>
<plugin name="libgazebo-rsb-model-state-plugin" filename="libgazebo-rsb-model-state-plugin.so">
<!--scope name="scope_current_pose">/gazebo/model/status</scope-->
</plugin>
</model>
<!-- filename should point to the prefix TODO -->
<plugin name="rtt_gazebo_deployer_world_plugin" filename="librtt_gazebo_deployer_world_plugin.so"/>
</world>
</sdf>