Skip to content

Commit 14ef102

Browse files
GustavoDCCGustavoDCC
committed
(tutorial06) Convert robot-lab to world
1 parent dc09f33 commit 14ef102

File tree

1 file changed

+60
-10
lines changed

1 file changed

+60
-10
lines changed

‎tutorial06/my-model-dir/robot-lab/model.sdf

Lines changed: 60 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -1,23 +1,73 @@
11
<?xml version="1.0" ?>
22
<sdf version="1.6">
3-
<model name="robot-lab">
3+
<world name="robot-lab">
4+
<light name="sun" type="directional">
5+
<direction>0.5 0.1 -0.9</direction>
6+
<pose>0 0 10 0 0 0</pose>
7+
<specular>0.2 0.2 0.2 1</specular>
8+
<cast_shadows>true</cast_shadows>
9+
<diffuse>0.8 0.8 0.8 1</diffuse>
10+
<attenuation>
11+
<range>1000</range>
12+
<quadratic>0.001</quadratic>
13+
<constant>0.9</constant>
14+
<linear>0.01</linear>
15+
</attenuation>
16+
</light>
17+
<model name="walls">
418
<static>true</static>
5-
<link name="1_link">
6-
<collision name="1_col">
19+
<link name="1_link">
20+
<collision name="1_col">
721
<geometry>
822
<mesh>
9-
<uri>model://robot-lab/shape/heightmap.stl</uri>
23+
<uri>model://robot-lab/shape/heightmap.stl</uri>
1024
</mesh>
1125
</geometry>
12-
</collision>
13-
<visual name="1_vis">
26+
</collision>
27+
<visual name="1_vis">
1428
<geometry>
1529
<mesh>
16-
<uri>model://robot-lab/shape/heightmap.stl</uri>
30+
<uri>model://robot-lab/shape/heightmap.stl</uri>
1731
</mesh>
1832
</geometry>
19-
</visual>
33+
</visual>
34+
<pose>0 0 0 0 0 0</pose>
35+
</link>
2036
<pose>0 0 0 0 0 0</pose>
21-
</link>
22-
</model>
37+
</model>
38+
<model name="floor">
39+
<link name="1_link">
40+
<collision name="1_col">
41+
<geometry>
42+
<box>
43+
<size>200 200 0.02</size>
44+
</box>
45+
</geometry>
46+
</collision>
47+
<visual name="1_vis">
48+
<geometry>
49+
<box>
50+
<size>200 200 0.02</size>
51+
</box>
52+
</geometry>
53+
</visual>
54+
<pose>0 0 -0.01 0 0 0</pose>
55+
</link>
56+
<static>true</static>
57+
<pose>0 0 0 0 0 0</pose>
58+
</model>
59+
<physics type="ode">
60+
<real_time_update_rate>333.0</real_time_update_rate>
61+
<max_step_size>0.003</max_step_size>
62+
<ode>
63+
<constraints>
64+
<cfm>0.0001</cfm>
65+
</constraints>
66+
<solver>
67+
<type>quick</type>
68+
<iters>100</iters>
69+
</solver>
70+
</ode>
71+
</physics>
72+
</world>
2373
</sdf>

0 commit comments

Comments
 (0)