terrain.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">

  <param:Global>
    <gravity>0.0 0.0 -9.8</gravity>
    <utmOffset>0 0</utmOffset>
  </param:Global>

  <model:ObserverCam>
    <id>userCam0</id>

    <xyz>0 0 60</xyz>
    <rpy>0 30 40</rpy>

    <imageSize>640 480</imageSize>
    <displayRays>false</displayRays>
    <farClip>1000</farClip>

    <shadeSmooth>true</shadeSmooth>
    <polygonFill>true</polygonFill>
  </model:ObserverCam>

  <model:LightSource>
    <id>0</id>
    <xyz>65 65 400</xyz>
    <attenuation>0.1 0.005 0.0</attenuation>
  </model:LightSource>

  <model:Terrain>
    <!-- Use gzbuilder to create the terrain file-->
    <!-- ex: gzbuilder -i terrain.png -o terrain.gzb -n -v 20 -e 2 -s 10 -t 10 -->
    <terrainFile>terrain.gzb</terrainFile>
    <xyz>0 0 0</xyz>
    <color>0 1.0 0.0</color>
    <textureFile>grid.ppm</textureFile>
  </model:Terrain>

</gz:world>