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evora_farm.world
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evora_farm.world
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<?xml version="1.0" ?>
<?xml-model href="http://sdformat.org/schemas/root.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<sdf version='1.5'>
<world name='default'>
<plugin name="mrs_gazebo_static_transform_republisher_plugin" filename="libMRSGazeboStaticTransformRepublisher.so"/>
<light name='sun' type='directional'>
<cast_shadows>0</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<diffuse>1 1 1 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 -0.5 -1</direction>
</light>
<physics name='default_physics' default='0' type='ode'>
<max_step_size>0.004</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>250</real_time_update_rate>
</physics>
<scene>
<ambient>1 1 1 1</ambient>
<background>1 1 1 1</background>
<shadows>1</shadows>
<sky>
<clouds>
<speed>12</speed>
</clouds>
</sky>
</scene>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>38.540986425145505</latitude_deg>
<longitude_deg>-7.9617174218275</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<state world_name='default'>
<sim_time>0 0</sim_time>
<real_time>0 0</real_time>
<wall_time>0 0</wall_time>
<iterations>684167</iterations>
<model name='agriculture_geom'>
<pose frame=''>-82.6 110.5 -1.5 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='agriculture_world_link'>
<pose frame=''>-82.6 110.5 -1.5 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 frame=''>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>60.948 4.2989 40.9482 0 0.443643 3.0856</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<model name='agriculture_geom'>
<link name='agriculture_world_link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<collision name='agriculture_world_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<!-- <mesh filename="model://evora_farm.dae"/> -->
<mesh>
<scale>1 1 1</scale>
<uri>model://evora_farm/evora_farm.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='agriculture_world_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<!-- <mesh filename="package://durable_gazebo_simulation/meshes/evora_farm.dae"/> -->
<mesh>
<scale>1 1 1</scale>
<uri>model://evora_farm/evora_farm.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<static>1</static>
<pose frame=''>0 0 0 0 -0 0</pose>
</model>
</world>
</sdf>