segwayrmp.world

来自「机器人人3D仿真工具,可以加入到Simbad仿真环境下应用。」· WORLD 代码 · 共 42 行

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

  <model:ObserverCam>
    <id>userCam0</id>
    <xyz>-1.586 1.959 1.897</xyz>
    <rpy>-0 35 -84</rpy>
    <displayAxes>false</displayAxes>
    <displayCoM>false</displayCoM>
    <imageSize>640 480</imageSize>
  </model:ObserverCam>

  <model:GroundPlane>
    <id>ground1</id>
  </model:GroundPlane>

  <model:SimpleSolid>
    <xyz>0.000 0.000 -0.005</xyz>
    <shape>box</shape>
    <size>2 2 0.50</size>
    <color>1.0 1.0 1.0</color>
    <mass>10000</mass>
  </model:SimpleSolid>

  <model:SegwayRMP>
    <id>robot1</id>
    <xyz>-2.067 -0.000 0.003</xyz>
    <rpy>-0 1 0</rpy>
    <model:SickLMS200>
      <id>laser1</id>
      <parentBody>topPlate</parentBody>
      <xyz>0 0 0.05</xyz> 
    </model:SickLMS200>
  </model:SegwayRMP>

</gz:world>