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fuel.sdf
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<?xml version="1.0" ?>
<!--
Demo of models being downloaded from http://app.gazebosim.org/
-->
<sdf version="1.6">
<world name="shapes">
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<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>
<size>100 100</size>
</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>
<!-- Included model without meshes -->
<include>
<name>Double pendulum</name>
<pose>-3 0 0 0 0 0</pose>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Double pendulum with base</uri>
</include>
<!-- Included model with meshes -->
<include>
<pose>3 -1 0 0 0 0</pose>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Backpack</uri>
</include>
<!-- Included model with meshes using relative paths -->
<include>
<name>Gazebo (relative paths)</name>
<pose>2 5 0 0 0 0</pose>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Gazebo - relative paths</uri>
</include>
<!-- Included actor with meshes using relative paths -->
<include>
<name>Actor Test</name>
<pose>0 0 0 0 0 0</pose>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/actor - relative paths</uri>
</include>
<!-- Model with meshes -->
<model name="Radio">
<pose>3 -1.5 0 0 0 0</pose>
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<mesh>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Radio/4/files/meshes/Radio.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Radio/4/files/meshes/Radio.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
<!-- Heightmap referring to assets from another model -->
<model name="fortress_heightmap">
<static>true</static>
<link name="link">
<visual name="visual">
<geometry>
<heightmap>
<use_terrain_paging>false</use_terrain_paging>
<texture>
<diffuse>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/dirt_diffusespecular.png</diffuse>
<normal>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/flat_normal.png</normal>
<size>10</size>
</texture>
<texture>
<diffuse>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/grass_diffusespecular.png</diffuse>
<normal>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/flat_normal.png</normal>
<size>10</size>
</texture>
<texture>
<diffuse>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/fungus_diffusespecular.png</diffuse>
<normal>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/flat_normal.png</normal>
<size>10</size>
</texture>
<blend>
<min_height>28</min_height>
<fade_dist>6</fade_dist>
</blend>
<blend>
<min_height>35</min_height>
<fade_dist>18</fade_dist>
</blend>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/fortress_heightmap.png</uri>
<size>257 257 50</size>
<pos>0 0 -28</pos>
</heightmap>
</geometry>
</visual>
<collision name="collision">
<geometry>
<heightmap>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Fortress heightmap/tip/files/materials/textures/fortress_heightmap.png</uri>
<size>257 257 50</size>
<pos>0 0 -28</pos>
</heightmap>
</geometry>
</collision>
</link>
</model>
</world>
</sdf>