simple.world

机器人人3D仿真工具,可以加入到Simbad仿真环境下应用。

<?xml version="1.0"?>

<gz:world 
  xmlns:gz='http://playerstage.sourceforge.net/gazebo/xmlschema/#gz'
  xmlns:model='http://playerstage.sourceforge.net/gazebo/xmlschema/#model'
  xmlns:sensor='http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor'
  xmlns:window='http://playerstage.sourceforge.net/gazebo/xmlschema/#window'
  xmlns:param='http://playerstage.sourceforge.net/gazebo/xmlschema/#params'
  xmlns:ui='http://playerstage.sourceforge.net/gazebo/xmlschema/#params'>

  <model:ObserverCam>
    <id>userCam0</id>
    <xyz>-0.506 0.894 0.865</xyz>
    <rpy>0 26 -23</rpy>
    <imageSize>640 480</imageSize>
  </model:ObserverCam>

  <model:LightSource>
    <id>light1</id>
    <xyz>0.0 10.0 100.0</xyz>
  </model:LightSource>

  <model:GroundPlane>
    <id>ground1</id>
    <color>0 0.5 0</color>
  </model:GroundPlane>

  <model:Pioneer2AT>
    <id>robot1</id>
    <xyz>0.0 0.0 0</xyz>
  </model:Pioneer2AT>

</gz:world>