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Add a few more reference spheres and colors
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@scpeters
scpeters committed Sep 16, 2020
1 parent 99fdbc8 commit e953586
Showing 1 changed file with 121 additions and 34 deletions.
155 changes: 121 additions & 34 deletions worlds/heightmap_pyramid.world
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Original file line number Diff line number Diff line change
Expand Up @@ -51,105 +51,134 @@
<name>ball_jagged_03</name>
<pose>2.75 -2.75 35 0 0 0</pose>
</include>

<model name="unit_medium_sphere_smooth_falls_through">
<pose>4 4 32 0 0 0</pose>
<link name="link">
<inertial>
<mass>12.0</mass>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
</material>
</visual>
</link>
</model>

<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_y1</name>
<pose>0.75 0.65 35 0 0 0</pose>
<pose>1 0.9 35 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_y2</name>
<pose>1.75 1.65 35 0 0 0</pose>
<pose>2 1.9 35 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_y3</name>
<pose>2.75 2.65 35 0 0 0</pose>
<pose>3 2.9 35 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_01</name>
<pose>0.75 0.75 35 0 0 0</pose>
<name>ball_smooth_falls_through_01</name>
<pose>1 1 35 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_02</name>
<pose>1.75 1.75 35 0 0 0</pose>
<name>ball_smooth_falls_through_02</name>
<pose>2 2 35 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_03</name>
<pose>2.75 2.75 35 0 0 0</pose>
<name>ball_smooth_falls_through_03</name>
<pose>3 3 35 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_x1</name>
<pose>0.65 0.75 35 0 0 0</pose>
<pose>0.9 1 35 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_x2</name>
<pose>1.65 1.75 35 0 0 0</pose>
<pose>1.9 2 35 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_x3</name>
<pose>2.65 2.75 35 0 0 0</pose>
<pose>2.9 3 35 0 0 0</pose>
</include>

<model name="unit_sphere_jagged_01">
<pose>-0.75 0.75 35 0 0 0</pose>
<pose>-1.9 1.9 34 0 0 0</pose>
<link name="link">
<inertial>
<mass>12.0</mass>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.5</radius>
<radius>0.8</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.5</radius>
<radius>0.8</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<ambient>0 0.7 0 1</ambient>
<diffuse>0 0.7 0 1</diffuse>
</material>
</visual>
</link>
</model>
<model name="unit_sphere_jagged_02">
<pose>-1.5 1.5 34 0 0 0</pose>
<pose>-3.5 3.5 32.3 0 0 0</pose>
<link name="link">
<inertial>
<mass>12.0</mass>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.5</radius>
<radius>0.8</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.5</radius>
<radius>0.8</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<ambient>0 0.7 0 1</ambient>
<diffuse>0 0.7 0 1</diffuse>
</material>
</visual>
</link>
</model>
<model name="unit_sphere_smooth">
<pose>-0.5 -0.5 35 0 0 0</pose>
<model name="unit_medium_sphere_jagged_sinks_in_pops_out">
<pose>3.5 -3.5 32 0 0 0</pose>
<link name="link">
<inertial>
<mass>12.0</mass>
Expand All @@ -174,54 +203,112 @@
</visual>
</link>
</model>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_under_x1</name>
<pose>-1.95 -1.85 33 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_under_x2</name>
<pose>-1.95 -1.75 33 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_under_x3</name>
<pose>-1.95 -1.65 33 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_under_y1</name>
<pose>-1.85 -1.95 33 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_under_y2</name>
<pose>-1.75 -1.95 33 0 0 0</pose>
</include>
<include>
<uri>model://cricket_ball</uri>
<name>ball_smooth_under_y3</name>
<pose>-1.65 -1.95 33 0 0 0</pose>
</include>
<model name="unit_sphere_smooth_weird_spinning">
<pose>-2 -2 35 0 0 0</pose>
<link name="link">
<inertial>
<mass>12.0</mass>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.8</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.8</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
</link>
</model>
<model name="unit_sphere_smooth_y">
<pose>-1.5 -1.9 35 0 0 0</pose>
<pose>-3.5 -4.1 35 0 0 0</pose>
<link name="link">
<inertial>
<mass>12.0</mass>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.5</radius>
<radius>0.8</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.5</radius>
<radius>0.8</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<ambient>0 0.7 0 1</ambient>
<diffuse>0 0.7 0 1</diffuse>
</material>
</visual>
</link>
</model>
<model name="unit_sphere_smooth_x">
<pose>-2.9 -2.5 35 0 0 0</pose>
<pose>-6.1 -5.5 35 0 0 0</pose>
<link name="link">
<inertial>
<mass>12.0</mass>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.5</radius>
<radius>0.8</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.5</radius>
<radius>0.8</radius>
</sphere>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<ambient>0 0.7 0 1</ambient>
<diffuse>0 0.7 0 1</diffuse>
</material>
</visual>
</link>
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