forked from xtdrone/XTDrone
6958 lines
200 KiB
XML
6958 lines
200 KiB
XML
<?xml version="1.0" ?>
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<sdf version='1.6'>
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<world name='default'>
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<light name='sun' type='directional'>
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<cast_shadows>1</cast_shadows>
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<pose frame=''>0 0 10 0 -0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<model name='ground_plane'>
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<static>1</static>
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<link name='link'>
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<collision name='collision'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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<torsional>
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<ode/>
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</friction>
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<ode/>
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<bounce/>
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<visual name='visual'>
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<geometry>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</link>
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</model>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type='adiabatic'/>
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<physics name='default_physics' default='0' type='ode'>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>1000</real_time_update_rate>
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</physics>
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>1</shadows>
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</scene>
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<audio>
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<device>default</device>
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</audio>
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<wind/>
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<latitude_deg>0</latitude_deg>
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<longitude_deg>0</longitude_deg>
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<elevation>0</elevation>
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<heading_deg>0</heading_deg>
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</spherical_coordinates>
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<model name='Playground'>
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<pose frame=''>75 0 0 0 -0 0</pose>
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<link name='Wall_0'>
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<collision name='Wall_0_Collision'>
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<ode/>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Bricks</name>
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</script>
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</material>
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<link name='Wall_1'>
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<visual name='Wall_1_Visual'>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Bricks</name>
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</script>
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<ambient>1 1 1 1</ambient>
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</material>
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<meta>
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</link>
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<link name='Wall_11'>
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<pose frame=''>-40 0 0 0 -0 -1.5708</pose>
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<visual name='Wall_11_Visual_0'>
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<geometry>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Bricks</name>
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</script>
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<ambient>1 1 1 1</ambient>
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</material>
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<meta>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Bricks</name>
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<box>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Bricks</name>
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<pose frame=''>85 80 0 0 -0 1.5708</pose>
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<link name='Wall_76'>
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<collision name='Wall_76_Collision'>
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<geometry>
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<box>
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<size>15.501 0.5 5</size>
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</box>
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</geometry>
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<pose frame=''>0 0 2.5 0 -0 0</pose>
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<visual name='Wall_76_Visual'>
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<pose frame=''>0 0 2.5 0 -0 0</pose>
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<geometry>
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<box>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Bricks</name>
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</material>
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<collision name='Wall_8_Collision'>
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<geometry>
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<box>
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</box>
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<pose frame=''>0 0 0.05 0 -0 0</pose>
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<visual name='Wall_8_Visual'>
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<pose frame=''>0 0 0.05 0 -0 0</pose>
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<geometry>
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<box>
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</box>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</material>
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<meta>
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<pose frame=''>-95 0 0 0 -0 1.5708</pose>
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<collision name='Wall_9_Collision'>
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<geometry>
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<box>
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</box>
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</geometry>
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<pose frame=''>0 0 0.05 0 -0 0</pose>
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<contact>
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<ode/>
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<ode/>
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<visual name='Wall_9_Visual'>
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<pose frame=''>0 0 0.05 0 -0 0</pose>
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<geometry>
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<box>
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<size>41 1 0.1</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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<meta>
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</visual>
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<pose frame=''>-75 20 0 0 -0 0</pose>
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<kinematic>0</kinematic>
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<static>1</static>
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</model>
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<state world_name='default'>
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<sim_time>97 228000000</sim_time>
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<real_time>98 244708315</real_time>
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<wall_time>1601284965 498316057</wall_time>
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<iterations>97228</iterations>
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<model name='Playground'>
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<pose frame=''>75 0 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='Wall_0'>
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<pose frame=''>-50 0 0 0 0 -1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<link name='Wall_1'>
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<pose frame=''>75 -100 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<pose frame=''>35 0 0 0 0 -1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<pose frame=''>0 40 0 0 -0 0</pose>
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<pose frame=''>24 -55 0 0 0 -1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<link name='Wall_136'>
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<pose frame=''>19.5 -72.5 0 0 0 -2.63449</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<link name='Wall_137'>
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<pose frame=''>15 -80 0 0 0 -1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_138'>
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<pose frame=''>25 -85 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_139'>
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<pose frame=''>35 -80 0 0 -0 1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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<pose frame=''>42.5 -75 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_141'>
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<pose frame=''>50 -80 0 0 0 -1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_142'>
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<pose frame=''>57.5 -85 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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<link name='Wall_143'>
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<pose frame=''>65 -80 0 0 -0 1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<link name='Wall_144'>
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<pose frame=''>70 -75 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_145'>
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<pose frame=''>75 -80 0 0 0 -1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_146'>
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<pose frame=''>82.5 -85 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_147'>
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<pose frame=''>90 -80 0 0 -0 1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_148'>
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<pose frame=''>95 -75 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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<pose frame=''>100 -80 0 0 0 -1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_15'>
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<pose frame=''>45 20 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_150'>
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<pose frame=''>107.5 -85 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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<pose frame=''>115 -87.5 0 0 0 -1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_152'>
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<pose frame=''>102.5 -90 0 0 -0 3.14159</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_154'>
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<pose frame=''>-20 -50 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_155'>
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<pose frame=''>-10 -60 0 0 0 -1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_156'>
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<pose frame=''>-20 -70 0 0 -0 3.14159</pose>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_157'>
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<pose frame=''>-30 -60 0 0 -0 1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_159'>
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<pose frame=''>50 -45 0 0 0 -1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_16'>
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<pose frame=''>55 0 0 0 0 -1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_160'>
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<pose frame=''>60 -50 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_161'>
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<pose frame=''>70 -45 0 0 -0 1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<pose frame=''>60 -40 0 0 -0 3.14159</pose>
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<pose frame=''>85 -45 0 0 0 -1.5708</pose>
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<wrench>0 0 0 0 -0 0</wrench>
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<pose frame=''>92.5 -50 0 0 -0 0</pose>
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<pose frame=''>100 -45 0 0 -0 1.5708</pose>
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<pose frame=''>92.5 -40 0 0 -0 3.14159</pose>
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<pose frame=''>115 -45 0 0 0 -1.5708</pose>
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<link name='Wall_17'>
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<pose frame=''>45 -20 0 0 -0 3.14159</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<pose frame=''>127.5 -50 0 0 -0 0</pose>
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<pose frame=''>140 -45 0 0 -0 1.5708</pose>
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<pose frame=''>127.5 -40 0 0 -0 3.14159</pose>
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<link name='Wall_174'>
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<pose frame=''>125 0 0 0 0 -1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_181'>
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<pose frame=''>60 50 0 0 0 -1.5708</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<wrench>0 0 0 0 -0 0</wrench>
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<link name='Wall_182'>
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<pose frame=''>67.5 45 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<pose frame=''>75 50 0 0 -0 1.5708</pose>
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</model>
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<model name='ground_plane'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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</model>
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<light name='sun'>
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<pose frame=''>0 0 10 0 -0 0</pose>
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</light>
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</state>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose frame=''>-167.781 -173.543 101.726 0 0.431577 0.665235</pose>
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<view_controller>orbit</view_controller>
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<projection_type>perspective</projection_type>
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</camera>
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</gui>
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</world>
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</sdf>
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