pioneer2dxgrip.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">

  <model:ObserverCam>
    <id>usercam1</id>
    <xyz>-0.588 -1.430 1.756</xyz>
    <rpy>0 41 46</rpy>
    <imageSize>640 480</imageSize>
  </model:ObserverCam>

  <model:LightSource>
    <id>light1</id>
    <xyz>-1.000 -1.000 10.000</xyz>
  </model:LightSource>

  <model:GroundPlane>
    <id>ground1</id>
    <texture2D>grid.ppm</texture2D>
  </model:GroundPlane>


    <model:Pioneer2DX>
    <id>robot1</id>
    <xyz>-0.250 0.000 0.234</xyz>
    <rpy>-0 0 0</rpy>

    <model:SickLMS200>
      <id>laser1</id>
      <xyz>0.0 0 0</xyz>
    </model:SickLMS200>
    
    <model:Pioneer2Gripper>
      <id>gripper1</id>
      <xyz>0.15 0 -0.1</xyz> 
    </model:Pioneer2Gripper>
  </model:Pioneer2DX>

  <model:SimpleSolid>
      <xyz>0.050 -0.000 -0.000</xyz>
      <shape>box</shape>
      <size>0.07 0.07 0.07</size>
      <color>1 1 0</color>
      <mass>0.1</mass>
      <rpy>0 -0 0</rpy>
  </model:SimpleSolid>
</gz:world>