opengl.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">

  <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:Pioneer2AT>
    <id>robot1</id>
    <xyz>0.012 -0.005 -0.000</xyz>
  </model:Pioneer2AT>

  <model:ObserverCam>
    <id>camera_auto</id>
    <xyz>-1.395 -3.356 1.512</xyz>
    <rpy>-0 13 71</rpy>
    <imageSize>320 240</imageSize>
    <updateRate>10</updateRate>
    <renderMethod>auto</renderMethod>
  </model:ObserverCam>

  <model:ObserverCam>
    <id>camera_glx</id>
    <xyz>-1.395 -3.356 1.512</xyz>
    <rpy>-0 13 71</rpy>
    <imageSize>320 240</imageSize>
    <updateRate>10</updateRate>
    <renderMethod>glx</renderMethod>
  </model:ObserverCam>

  <model:ObserverCam>
    <id>camera_xlib</id>
    <xyz>-1.395 -3.356 1.512</xyz>
    <rpy>-0 13 71</rpy>
    <imageSize>320 240</imageSize>
    <updateRate>10</updateRate>
    <renderMethod>xlib</renderMethod>
  </model:ObserverCam>

</gz:world>