shrimp.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:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param">

<param:Global>
  <pause>false</pause>
</param:Global>

  <model:ObserverCam>
    <id>userCam0</id>
    <xyz>-1.181 -2.030 1.175</xyz>
    <rpy>-0 14 43</rpy>
    <imageSize>640 480</imageSize>
    <updateRate>10</updateRate>

    <nearClip>0.2</nearClip>
    <farClip>100</farClip>

    <shadeModel>smooth</shadeModel>
    <polygonMode>fill</polygonMode>
    <displayRays>true</displayRays>
    <displayAxes>false</displayAxes>
    <displayCoM>false</displayCoM>
    <displayTextures>true</displayTextures>
  </model:ObserverCam>


  <model:LightSource>
    <id>light0</id>
    <xyz>-5.000 -5.000 10.000</xyz>
  </model:LightSource>

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

  <model:Shrimp>
    <id>robot1</id>
    <xyz>-0.026 0.000 0.199</xyz>
  </model:Shrimp>

  <model:SimpleSolid>
    <xyz>2.000 -0.000 -0.001</xyz>
    <shape>box</shape>
    <mass>100</mass>
    <size>1.10 1.10 .05</size>
    <color>0.0 1.0 0</color>     
    <retro>1.0</retro>
    <fiducial>1</fiducial>
  </model:SimpleSolid>

  <model:SimpleSolid>
    <xyz>1.000 -1.000 -0.000</xyz>
    <shape>cylinder</shape>
    <size>0.50 0.40</size>
    <color>0.0 0.0 0.5</color>     
  </model:SimpleSolid>

</gz:world>