sinusoid.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:window='http://playerstage.sourceforge.net/gazebo/xmlschema/#window'
  xmlns:params='http://playerstage.sourceforge.net/gazebo/xmlschema/#params'>

  <params:GlobalParams>
    <gravity>0.0 0.0 -9.8</gravity>
  </params:GlobalParams>

  <model:ObserverCam>
    <id>userCam0</id>
    <xyz>-0.279 -4.715 4.388</xyz>
    <rpy>0 28 85</rpy>
    <window>
      <title>Gazebo1</title>
      <size>640 480</size>
    </window>
  </model:ObserverCam>

  <model:LightSource>
    <id>light0</id>
    <xyz>-10.000 -10.000 10.000</xyz>
  </model:LightSource>

  <model:GroundPlane>
    <id>ground1</id>
  </model:GroundPlane>

  <model:SimpleSolid>
    <xyz>0.000 -0.000 -0.000</xyz>
    <shape>box</shape>
    <size>0.70 0.70 1.50</size>
    <color>1.0 1.0 1.0</color>
    <model:TruthWidget>
      <id>object1</id>
    </model:TruthWidget>
  </model:SimpleSolid>

</gz:world>