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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,103 @@ | ||
| <?xml version="1.0" ?> | ||
| <sdf version="1.6"> | ||
| <world name="default"> | ||
| <physics default="true" type="dart"> | ||
| <max_step_size>0.001</max_step_size> | ||
| <real_time_factor>1.0</real_time_factor> | ||
| </physics> | ||
| <plugin | ||
| filename="libignition-gazebo-physics-system.so" | ||
| name="ignition::gazebo::systems::Physics"> | ||
| </plugin> | ||
| <plugin | ||
| filename="libignition-gazebo-scene-broadcaster-system.so" | ||
| name="ignition::gazebo::systems::SceneBroadcaster"> | ||
| </plugin> | ||
|
|
||
| <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>ogre</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>2 0 2 0 0.5 3.14</camera_pose> | ||
| <service>/world/default/scene/info</service> | ||
| <pose_topic>/world/default/pose/info</pose_topic> | ||
| </plugin> | ||
|
|
||
| <!-- World control --> | ||
| <plugin filename="WorldControl" name="World control"> | ||
| <ignition-gui> | ||
| <title>World control</title> | ||
| <property type="bool" key="showTitleBar">false</property> | ||
| <property type="bool" key="resizable">false</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>true</play_pause> | ||
| <step>true</step> | ||
| <start_paused>true</start_paused> | ||
| <service>/world/default/control</service> | ||
| <stats_topic>/world/default/stats</stats_topic> | ||
| </plugin> | ||
|
|
||
| <!-- World statistics --> | ||
| <plugin filename="WorldStats" name="World stats"> | ||
| <ignition-gui> | ||
| <title>World stats</title> | ||
| <property type="bool" key="showTitleBar">false</property> | ||
| <property type="bool" key="resizable">false</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>true</sim_time> | ||
| <real_time>true</real_time> | ||
| <real_time_factor>true</real_time_factor> | ||
| <iterations>true</iterations> | ||
| <topic>/world/default/stats</topic> | ||
| </plugin> | ||
| </gui> | ||
|
|
||
| <light type="directional" name="sun"> | ||
| <cast_shadows>true</cast_shadows> | ||
| <pose>0 0 10 0 0 0</pose> | ||
| <diffuse>1 1 1 1</diffuse> | ||
| <specular>0.5 0.5 0.5 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> | ||
|
|
||
| <include> | ||
| <uri>ground_plane</uri> | ||
| </include> | ||
|
|
||
| <include> | ||
| <pose>0 0 1.0 0 0 3.14</pose> | ||
| <uri>iCubGazeboV2_5</uri> | ||
| </include> | ||
|
|
||
| </world> | ||
| </sdf> |