carchassis.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>
    <fogDensity>0.025</fogDensity>
  </param:Global>

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

  <model:ObserverCam>
    <id>userCam0</id>
    <xyz>1.197 -3.237 2.989</xyz>
    <rpy>-0 39 101</rpy>
    <imageSize>640 480</imageSize>
  </model:ObserverCam>

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

  <model:CarChassis>
    <id>car1</id>
    <xyz>-0.000 -0.000 -0.005</xyz>
    <skinFile>jeep.3ds</skinFile>
    <skinScale>0.5 0.55 0.5</skinScale>
    <skinXyz>-0.2 0.2 0.5</skinXyz>
    <skinRpy>0 0 90</skinRpy>
  </model:CarChassis>

</gz:world>