forked from Archive/PX4-Autopilot
Add x500 ignition (replaces x3)
This commit is contained in:
Benjamin Perseghetti
Daniel Agar
parent
4040e4cdf2
commit
0e8e38e698
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@ -8,7 +8,7 @@
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. ${R}etc/init.d/rc.mc_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=x3}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
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PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
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param set-default SYS_CTRL_ALLOC 1
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@ -73,7 +73,7 @@ px4_add_romfs_files(
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3010_quadrotor_x
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3011_hexarotor_x
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4001_x3
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4001_x500
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17001_tf-g1
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17002_tf-g2
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<?xml version="1.0"?>
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<model>
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<name>x3</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name>Carlos Aguero</name>
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<email>caguero@openrobotics.org</email>
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</author>
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<author>
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<name>Cole Biesemeyer</name>
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<email>cole@openrobotics.org</email>
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</author>
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<description>
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</description>
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</model>
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@ -1,371 +0,0 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<sdf version="1.6">
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<model name="x3">
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<pose>0 0 0.053302 0 0 0</pose>
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<link name="base_link">
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<pose frame="">0 0 0 0 -0 0</pose>
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<inertial>
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<pose frame="">0 0 0 0 -0 0</pose>
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<mass>1.5</mass>
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<inertia>
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<ixx>0.0347563</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.07</iyy>
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<iyz>0</iyz>
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<izz>0.0977</izz>
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</inertia>
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</inertial>
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<collision name="base_link_inertia_collision">
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<pose frame="">0 0 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.47 0.47 0.11</size>
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</box>
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</geometry>
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</collision>
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<visual name="base_link_inertia_visual">
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<pose frame="">0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/x3.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<sensor name="imu_sensor" type="imu">
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<always_on>1</always_on>
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<update_rate>250</update_rate>
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</sensor>
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</link>
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<link name="rotor_0">
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<pose frame="">0.13 -0.22 0.023 0 -0 0</pose>
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<inertial>
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<pose frame="">0 0 0 0 -0 0</pose>
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<mass>0.005</mass>
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<inertia>
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<ixx>9.75e-07</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>4.17041e-05</iyy>
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<iyz>0</iyz>
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<izz>4.26041e-05</izz>
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</inertia>
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</inertial>
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<collision name="rotor_0_collision">
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<pose frame="">0 0 0 0 -0 0</pose>
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<geometry>
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<cylinder>
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<length>0.005</length>
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<radius>0.1</radius>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode />
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</contact>
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<friction>
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<ode />
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</friction>
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</surface>
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</collision>
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<visual name="rotor_0_visual">
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<pose frame="">0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>meshes/propeller_ccw.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Blue</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay />
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</link>
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<joint name="rotor_0_joint" type="revolute">
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<child>rotor_0</child>
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<parent>base_link</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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<link name="rotor_1">
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<pose frame="">-0.13 0.2 0.023 0 -0 0</pose>
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<inertial>
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<pose frame="">0 0 0 0 -0 0</pose>
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<mass>0.005</mass>
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<inertia>
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<ixx>9.75e-07</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>4.17041e-05</iyy>
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<iyz>0</iyz>
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<izz>4.26041e-05</izz>
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</inertia>
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</inertial>
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<collision name="rotor_1_collision">
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<pose frame="">0 0 0 0 -0 0</pose>
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<geometry>
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<cylinder>
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<length>0.005</length>
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<radius>0.1</radius>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode />
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</contact>
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<friction>
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<ode />
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</friction>
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</surface>
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</collision>
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<visual name="rotor_1_visual">
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<pose frame="">0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>meshes/propeller_ccw.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Red</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay />
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</link>
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<joint name="rotor_1_joint" type="revolute">
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<child>rotor_1</child>
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<parent>base_link</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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<link name="rotor_2">
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<pose frame="">0.13 0.22 0.023 0 -0 0</pose>
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<inertial>
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<pose frame="">0 0 0 0 -0 0</pose>
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<mass>0.005</mass>
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<inertia>
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<ixx>9.75e-07</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>4.17041e-05</iyy>
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<iyz>0</iyz>
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<izz>4.26041e-05</izz>
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</inertia>
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</inertial>
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<collision name="rotor_2_collision">
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<pose frame="">0 0 0 0 -0 0</pose>
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<geometry>
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<cylinder>
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<length>0.005</length>
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<radius>0.1</radius>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode />
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</contact>
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<friction>
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<ode />
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</friction>
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</surface>
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</collision>
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<visual name="rotor_2_visual">
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<pose frame="">0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>meshes/propeller_cw.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Blue</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay />
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</link>
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<joint name="rotor_2_joint" type="revolute">
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<child>rotor_2</child>
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<parent>base_link</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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<link name="rotor_3">
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<pose frame="">-0.13 -0.2 0.023 0 -0 0</pose>
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<inertial>
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<pose frame="">0 0 0 0 -0 0</pose>
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<mass>0.005</mass>
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<inertia>
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<ixx>9.75e-07</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>4.17041e-05</iyy>
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<iyz>0</iyz>
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<izz>4.26041e-05</izz>
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</inertia>
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</inertial>
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<collision name="rotor_3_collision">
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<pose frame="">0 0 0 0 -0 0</pose>
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<geometry>
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<cylinder>
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<length>0.005</length>
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<radius>0.1</radius>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode />
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</contact>
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<friction>
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<ode />
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</friction>
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</surface>
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</collision>
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<visual name="rotor_3_visual">
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<pose frame="">0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>meshes/propeller_cw.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Red</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay />
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</link>
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<joint name="rotor_3_joint" type="revolute">
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<child>rotor_3</child>
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<parent>base_link</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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<plugin filename="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu" />
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>x3</robotNamespace>
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<jointName>rotor_0_joint</jointName>
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<linkName>rotor_0</linkName>
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<turningDirection>ccw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>0</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>x3</robotNamespace>
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<jointName>rotor_1_joint</jointName>
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<linkName>rotor_1</linkName>
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<turningDirection>ccw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>1</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>x3</robotNamespace>
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<jointName>rotor_2_joint</jointName>
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<linkName>rotor_2</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>2</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>x3</robotNamespace>
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<jointName>rotor_3_joint</jointName>
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<linkName>rotor_3</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>3</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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</model>
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</sdf>
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@ -0,0 +1,11 @@
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<?xml version="1.0"?>
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<model>
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<name>x500</name>
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||||
<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name>Benjamin Perseghetti</name>
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<email>bperseghetti@rudislabs.com</email>
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</author>
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<description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC. Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
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</model>
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@ -0,0 +1,585 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<sdf version='1.6'>
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<model name='x500'>
|
||||
<pose>0 0 .24 0 0 0</pose>
|
||||
<self_collide>false</self_collide>
|
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|
||||
<collision name="rotor_3_collision">
|
||||
<pose>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_vel>0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rotor_3_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>rotor_3</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-1e+16</lower>
|
||||
<upper>1e+16</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<plugin filename="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu" />
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>x500</robotNamespace>
|
||||
<jointName>rotor_0_joint</jointName>
|
||||
<linkName>rotor_0</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>0</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>x500</robotNamespace>
|
||||
<jointName>rotor_1_joint</jointName>
|
||||
<linkName>rotor_1</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>1</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>x500</robotNamespace>
|
||||
<jointName>rotor_2_joint</jointName>
|
||||
<linkName>rotor_2</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>2</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>x500</robotNamespace>
|
||||
<jointName>rotor_3_joint</jointName>
|
||||
<linkName>rotor_3</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>3</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
|
|
@ -1,68 +1,145 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<sdf version="1.9">
|
||||
<world name="default">
|
||||
<physics type="ode">
|
||||
<max_step_size>0.004</max_step_size>
|
||||
<real_time_factor>1.0</real_time_factor>
|
||||
<real_time_update_rate>250</real_time_update_rate>
|
||||
</physics>
|
||||
<scene>
|
||||
<ambient>0.4 0.4 0.4 1</ambient>
|
||||
<background>0.7 0.7 0.7 1</background>
|
||||
<shadows>true</shadows>
|
||||
</scene>
|
||||
<gui fullscreen="0">
|
||||
<!-- 3D scene -->
|
||||
<plugin filename="GzScene3D" name="3D View">
|
||||
<ignition-gui>
|
||||
<title>3D View</title>
|
||||
<property type="bool" key="showTitleBar">false</property>
|
||||
<property type="string" key="state">docked</property>
|
||||
</ignition-gui>
|
||||
<engine>ogre2</engine>
|
||||
<scene>scene</scene>
|
||||
<ambient_light>0.4 0.4 0.4</ambient_light>
|
||||
<background_color>0.8 0.8 0.8</background_color>
|
||||
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
|
||||
</plugin>
|
||||
</gui>
|
||||
<light type="directional" name="sun">
|
||||
<cast_shadows>true</cast_shadows>
|
||||
<pose>0 0 10 0 0 0</pose>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.2 0.2 0.2 1</specular>
|
||||
<attenuation>
|
||||
<range>1000</range>
|
||||
<constant>0.9</constant>
|
||||
<linear>0.01</linear>
|
||||
<quadratic>0.001</quadratic>
|
||||
</attenuation>
|
||||
<direction>-0.5 0.1 -0.9</direction>
|
||||
</light>
|
||||
<model name="ground_plane">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
</plane>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.8 0.8 0.8 1</ambient>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.8 0.8 0.8 1</specular>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</world>
|
||||
<sdf version='1.9'>
|
||||
<world name='default'>
|
||||
<physics type="ode">
|
||||
<max_step_size>0.004</max_step_size>
|
||||
<real_time_factor>1.0</real_time_factor>
|
||||
<real_time_update_rate>250</real_time_update_rate>
|
||||
</physics>
|
||||
<plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
|
||||
<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
|
||||
<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
|
||||
<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
|
||||
<plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
|
||||
<render_engine>ogre2</render_engine>
|
||||
</plugin>
|
||||
<gui fullscreen='false'>
|
||||
<plugin name='3D View' filename='GzScene3D'>
|
||||
<ignition-gui>
|
||||
<title>3D View</title>
|
||||
<property type='bool' key='showTitleBar'>0</property>
|
||||
<property type='string' key='state'>docked</property>
|
||||
</ignition-gui>
|
||||
<engine>ogre2</engine>
|
||||
<scene>scene</scene>
|
||||
<ambient_light>0.5984631152222222 0.5984631152222222 0.5984631152222222</ambient_light>
|
||||
<background_color>0.8984631152222222 0.8984631152222222 0.8984631152222222</background_color>
|
||||
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
|
||||
</plugin>
|
||||
<plugin name='World control' filename='WorldControl'>
|
||||
<ignition-gui>
|
||||
<title>World control</title>
|
||||
<property type='bool' key='showTitleBar'>0</property>
|
||||
<property type='bool' key='resizable'>0</property>
|
||||
<property type='double' key='height'>72</property>
|
||||
<property type='double' key='width'>121</property>
|
||||
<property type='double' key='z'>1</property>
|
||||
<property type='string' key='state'>floating</property>
|
||||
<anchors target='3D View'>
|
||||
<line own='left' target='left'/>
|
||||
<line own='bottom' target='bottom'/>
|
||||
</anchors>
|
||||
</ignition-gui>
|
||||
<play_pause>1</play_pause>
|
||||
<step>1</step>
|
||||
<start_paused>1</start_paused>
|
||||
</plugin>
|
||||
<plugin name='World stats' filename='WorldStats'>
|
||||
<ignition-gui>
|
||||
<title>World stats</title>
|
||||
<property type='bool' key='showTitleBar'>0</property>
|
||||
<property type='bool' key='resizable'>0</property>
|
||||
<property type='double' key='height'>110</property>
|
||||
<property type='double' key='width'>290</property>
|
||||
<property type='double' key='z'>1</property>
|
||||
<property type='string' key='state'>floating</property>
|
||||
<anchors target='3D View'>
|
||||
<line own='right' target='right'/>
|
||||
<line own='bottom' target='bottom'/>
|
||||
</anchors>
|
||||
</ignition-gui>
|
||||
<sim_time>1</sim_time>
|
||||
<real_time>1</real_time>
|
||||
<real_time_factor>1</real_time_factor>
|
||||
<iterations>1</iterations>
|
||||
</plugin>
|
||||
<plugin name='Entity tree' filename='EntityTree'/>
|
||||
</gui>
|
||||
<gravity>0 0 -9.8</gravity>
|
||||
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
|
||||
<atmosphere type='adiabatic'/>
|
||||
<scene>
|
||||
<grid>false</grid>
|
||||
<ambient>0.4 0.4 0.4 1</ambient>
|
||||
<background>0.7 0.7 0.7 1</background>
|
||||
<shadows>true</shadows>
|
||||
</scene>
|
||||
<model name='ground_plane'>
|
||||
<static>true</static>
|
||||
<link name='link'>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>1 1</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<bounce/>
|
||||
<contact/>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.8 0.8 0.8 1</ambient>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.8 0.8 0.8 1</specular>
|
||||
</material>
|
||||
</visual>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>1</mass>
|
||||
<inertia>
|
||||
<ixx>1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<self_collide>false</self_collide>
|
||||
</model>
|
||||
<light name='sunUTC' type='directional'>
|
||||
<pose>0 0 500 0 -0 0</pose>
|
||||
<cast_shadows>true</cast_shadows>
|
||||
<intensity>1</intensity>
|
||||
<direction>0.001 0.625 -0.78</direction>
|
||||
<diffuse>0.904 0.904 0.904 1</diffuse>
|
||||
<specular>0.271 0.271 0.271 1</specular>
|
||||
<attenuation>
|
||||
<range>2000</range>
|
||||
<linear>0</linear>
|
||||
<constant>1</constant>
|
||||
<quadratic>0</quadratic>
|
||||
</attenuation>
|
||||
<spot>
|
||||
<inner_angle>0</inner_angle>
|
||||
<outer_angle>0</outer_angle>
|
||||
<falloff>0</falloff>
|
||||
</spot>
|
||||
</light>
|
||||
</world>
|
||||
</sdf>
|
||||
|
|
|
|||
Loading…
Reference in New Issue