blimp.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>-5.822 -17.653 18.669</xyz>
    <rpy>-0 25 66</rpy>
    <imageSize>640 480</imageSize>
  </model:ObserverCam>

  <model:LightSource>
    <id>light1</id>
    <xyz>50.000 50.000 100.000</xyz>
  </model:LightSource>

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

  <model:Blimp>
    <id>robot1</id>
    <xyz>0.000 0.000 9.986</xyz>
    <rpy>-0 0 0</rpy>

    <model:MonoCam>
      <id>camera1</id>
      <xyz>0 0 -2</xyz>
      <rpy>0 90 0</rpy>
    </model:MonoCam>

  </model:Blimp>

</gz:world>