example.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>5.637 93.859 3.053</xyz>
    <rpy>-0 13 -39</rpy>
    <imageSize>640 480</imageSize>
    <updateRate>10</updateRate>
    <renderMethod>SGIX</renderMethod>
  </model:ObserverCam>

  <model:SkyDome>
    <toneMap>skyTones.jpg</toneMap>
    <timeLapse>true</timeLapse>
  </model:SkyDome>

  <model:LightSource>
    <id>light1</id>
    <xyz>0.000 0.000 100.000</xyz>
    <ambientColor>0.2, 0.2, 0.2</ambientColor>
    <diffuseColor>0.8, 0.8, 0.8</diffuseColor>
    <specularColor>0.2, 0.2, 0.2</specularColor>
    <attenuation>1.0, 0.0, 0.00</attenuation>
  </model:LightSource>

  <model:GroundPlane>
    <id>ground1</id>
    <color>0.0 0.5 0.0</color>
    <textureFile>grid.ppm</textureFile>
  </model:GroundPlane>

  <model:Terrain>
    <xyz>0.000 0.000 -0.100</xyz>
    <terrainFile>example.gzb</terrainFile>
  </model:Terrain>

  <model:Pioneer2DX>
    <id>robot1</id>
    <xyz>8.647 91.267 0.200</xyz>
    <model:TruthWidget>
      <id>truth1</id>
    </model:TruthWidget>

    <model:SickLMS200>
      <id>laser1</id>
      <xyz>0.0 0.0 0.00</xyz>
       <model:SonyVID30>
        <id>camera1</id>
        <xyz>0 0 0.2</xyz>
      </model:SonyVID30>
    </model:SickLMS200>

    <model:Pioneer2Gripper>
      <id>gripper1</id>
      <xyz>0.14003 0 -0.0975</xyz>
    </model:Pioneer2Gripper>

  </model:Pioneer2DX>

  <model:SimpleSolid>
    <xyz>10.0 91.8 0</xyz>
    <shape>sphere</shape>
    <size>.5</size>
    <fiducial>4</fiducial>
  </model:SimpleSolid>
</gz:world>