avatarheli.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/#params'>

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

  <model:ObserverCam>
    <id>userCam0</id>
    <xyz>-2.218 -1.478 3.001</xyz>
    <rpy>-0 31 36</rpy>
    <imageSize>640 480</imageSize>
  </model:ObserverCam>

  <model:LightSource>
    <id>light1</id>
    <xyz>50 50 100</xyz>
  </model:LightSource>

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

  <model:AvatarHeli>
    <id>robot1</id>
    <xyz>0 0 1.00</xyz>
    <rpy>0 0 0</rpy>

    <skinFile>heli_withlaser.3ds</skinFile>
    <skinScale>0.003 0.003 0.003</skinScale>
    <skinXyz>-0.10 0.10 -0.10</skinXyz>
    <skinRpy>0 0 180</skinRpy>

    <model:MonoCam>
      <id>camera1</id>
      <xyz>0 0 0</xyz>
      <rpy>0 90 0</rpy>
    </model:MonoCam>

  </model:AvatarHeli>

</gz:world>