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aquanaute_gazebo/worlds/test.world 3.43 KB
4120d958   Ricardo Rico Uribe   added imu for plu...
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  <sdf version='1.6'>
    <world name='default'>
      <light name='sun' type='directional'>
        <cast_shadows>1</cast_shadows>
        <pose frame=''>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>
      </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>
              <contact>
                <collide_bitmask>65535</collide_bitmask>
                <ode/>
              </contact>
              <friction>
                <ode>
                  <mu>100</mu>
                  <mu2>50</mu2>
                </ode>
                <torsional>
                  <ode/>
                </torsional>
              </friction>
              <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>
          <self_collide>0</self_collide>
          <enable_wind>0</enable_wind>
          <kinematic>0</kinematic>
        </link>
      </model>
5140bb7f   Ricardo Rico Uribe   general order and...
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      <gravity>0 0 0</gravity> <!--0 0 -9.8-->
4120d958   Ricardo Rico Uribe   added imu for plu...
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      <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
      <atmosphere type='adiabatic'/>
      <physics name='default_physics' default='0' 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>
      <audio>
        <device>default</device>
      </audio>
      <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'>
        <sim_time>29 253000000</sim_time>
        <real_time>29 457037678</real_time>
        <wall_time>1594385127 732457775</wall_time>
        <iterations>29253</iterations>
        <model name='ground_plane'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <scale>1 1 1</scale>
          <link name='link'>
            <pose frame=''>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 frame=''>0 0 10 0 -0 0</pose>
        </light>
      </state>
      <gui fullscreen='0'>
        <camera name='user_camera'>
          <pose frame=''>5 -5 2 0 0.275643 2.35619</pose>
          <view_controller>orbit</view_controller>
          <projection_type>perspective</projection_type>
        </camera>
      </gui>
    </world>
  </sdf>