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Updated world to latest standards (space-ros#46)
Signed-off-by: Jasmeet Singh <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,65 +1,255 @@ | ||
| <?xml version="1.0" ?> | ||
| <sdf version="1.11"> | ||
| <world name="default"> | ||
| <gui fullscreen="0"> | ||
| <?xml version="1.0" ?> | ||
| <sdf version="1.6"> | ||
| <world name="default"> | ||
| <physics name="1ms" type="ignored"> | ||
| <max_step_size>0.001</max_step_size> | ||
| <real_time_factor>1.0</real_time_factor> | ||
| </physics> | ||
| <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> | ||
| <plugin | ||
| filename="gz-sim-sensors-system" | ||
| name="gz::sim::systems::Sensors"> | ||
| <render_engine>ogre2</render_engine> | ||
| </plugin> | ||
|
|
||
| <plugin filename="GzScene3D" name="3D View"> | ||
| <gui fullscreen="0"> | ||
| <plugin filename="MinimalScene" name="3D View"> | ||
| <gz-gui> | ||
| <title>3D View</title> | ||
| <property type="bool" key="showTitleBar">false</property> | ||
| <property type="string" key="state">docked</property> | ||
| <title>3D View</title> | ||
| <property type="bool" key="showTitleBar">false</property> | ||
| <property type="string" key="state">docked</property> | ||
| </gz-gui> | ||
| <engine>ogre2</engine> | ||
| <scene>scene</scene> | ||
| <background_color>0.9 0.753 0.66</background_color> | ||
| <camera_pose>-5.0 0.0 -6.0 0.0 0.0 0.0</camera_pose> | ||
| <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> | ||
|
|
||
| <!-- Plugins that add functionality to the scene --> | ||
| <plugin filename="EntityContextMenuPlugin" name="Entity context menu"> | ||
| <gz-gui> | ||
| <property key="state" type="string">floating</property> | ||
| <property key="width" type="double">5</property> | ||
| <property key="height" type="double">5</property> | ||
| <property key="showTitleBar" type="bool">false</property> | ||
| </gz-gui> | ||
| </plugin> | ||
|
|
||
| <plugin filename="GzSceneManager" name="Scene Manager"> | ||
| <gz-gui> | ||
| <property key="resizable" type="bool">false</property> | ||
| <property key="width" type="double">5</property> | ||
| <property key="height" type="double">5</property> | ||
| <property key="state" type="string">floating</property> | ||
| <property key="showTitleBar" type="bool">false</property> | ||
| </gz-gui> | ||
| </plugin> | ||
|
|
||
| <plugin filename="InteractiveViewControl" name="Interactive view control"> | ||
| <gz-gui> | ||
| <property key="resizable" type="bool">false</property> | ||
| <property key="width" type="double">5</property> | ||
| <property key="height" type="double">5</property> | ||
| <property key="state" type="string">floating</property> | ||
| <property key="showTitleBar" type="bool">false</property> | ||
| </gz-gui> | ||
| </plugin> | ||
|
|
||
| <plugin filename="CameraTracking" name="Camera Tracking"> | ||
| <gz-gui> | ||
| <property key="resizable" type="bool">false</property> | ||
| <property key="width" type="double">5</property> | ||
| <property key="height" type="double">5</property> | ||
| <property key="state" type="string">floating</property> | ||
| <property key="showTitleBar" type="bool">false</property> | ||
| </gz-gui> | ||
| </plugin> | ||
|
|
||
| <plugin filename="MarkerManager" name="Marker manager"> | ||
| <gz-gui> | ||
| <property key="resizable" type="bool">false</property> | ||
| <property key="width" type="double">5</property> | ||
| <property key="height" type="double">5</property> | ||
| <property key="state" type="string">floating</property> | ||
| <property key="showTitleBar" type="bool">false</property> | ||
| </gz-gui> | ||
| </plugin> | ||
|
|
||
| <plugin filename="ImageDisplay" name="Image Display"> | ||
| <plugin filename="SelectEntities" name="Select Entities"> | ||
| <gz-gui> | ||
| <property key="resizable" type="bool">false</property> | ||
| <property key="width" type="double">5</property> | ||
| <property key="height" type="double">5</property> | ||
| <property key="state" type="string">floating</property> | ||
| <property key="showTitleBar" type="bool">false</property> | ||
| </gz-gui> | ||
| </plugin> | ||
|
|
||
| <plugin filename="Spawn" name="Spawn Entities"> | ||
| <gz-gui> | ||
| <property key="resizable" type="bool">false</property> | ||
| <property key="width" type="double">5</property> | ||
| <property key="height" type="double">5</property> | ||
| <property key="state" type="string">floating</property> | ||
| <property key="showTitleBar" type="bool">false</property> | ||
| </gz-gui> | ||
| </plugin> | ||
|
|
||
| <plugin filename="VisualizationCapabilities" name="Visualization Capabilities"> | ||
| <gz-gui> | ||
| <property key="resizable" type="bool">false</property> | ||
| <property key="width" type="double">5</property> | ||
| <property key="height" type="double">5</property> | ||
| <property key="state" type="string">floating</property> | ||
| <property key="showTitleBar" type="bool">false</property> | ||
| </gz-gui> | ||
| </plugin> | ||
|
|
||
| <!-- World control --> | ||
| <plugin filename="WorldControl" name="World control"> | ||
| <gz-gui> | ||
| <property key="state" type="string">floating</property> | ||
| <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="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> | ||
| </gz-gui> | ||
| </plugin> | ||
| </gui> | ||
|
|
||
| <server_config> | ||
| <plugins> | ||
| <plugin entity_name="*" | ||
| entity_type="world" | ||
| filename="gz-sim-scene-broadcaster-system" | ||
| name="gz::sim::systems::SceneBroadcaster"> | ||
| </plugin> | ||
| <plugin entity_name="*" | ||
| entity_type="world" | ||
| filename="gz-sim-sensors-system" | ||
| name="gz::sim::systems::Sensors"> | ||
| <render_engine>ogre2</render_engine> | ||
| </plugin> | ||
| </plugins> | ||
| </server_config> | ||
|
|
||
| <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> | ||
| <play_pause>true</play_pause> | ||
| <step>true</step> | ||
| <start_paused>true</start_paused> | ||
| <use_event>true</use_event> | ||
| </plugin> | ||
|
|
||
| <!-- World statistics --> | ||
| <plugin filename="WorldStats" name="World stats"> | ||
| <gz-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> | ||
| </gz-gui> | ||
| <sim_time>true</sim_time> | ||
| <real_time>true</real_time> | ||
| <real_time_factor>true</real_time_factor> | ||
| <iterations>true</iterations> | ||
| </plugin> | ||
|
|
||
| <!-- Insert simple shapes --> | ||
| <plugin filename="Shapes" name="Shapes"> | ||
| <gz-gui> | ||
| <property key="resizable" type="bool">false</property> | ||
| <property key="x" type="double">0</property> | ||
| <property key="y" type="double">0</property> | ||
| <property key="width" type="double">250</property> | ||
| <property key="height" type="double">50</property> | ||
| <property key="state" type="string">floating</property> | ||
| <property key="showTitleBar" type="bool">false</property> | ||
| <property key="cardBackground" type="string">#666666</property> | ||
| </gz-gui> | ||
| </plugin> | ||
|
|
||
| <!-- Insert lights --> | ||
| <plugin filename="Lights" name="Lights"> | ||
| <gz-gui> | ||
| <property key="resizable" type="bool">false</property> | ||
| <property key="x" type="double">250</property> | ||
| <property key="y" type="double">0</property> | ||
| <property key="width" type="double">150</property> | ||
| <property key="height" type="double">50</property> | ||
| <property key="state" type="string">floating</property> | ||
| <property key="showTitleBar" type="bool">false</property> | ||
| <property key="cardBackground" type="string">#666666</property> | ||
| </gz-gui> | ||
| </plugin> | ||
|
|
||
| <!-- Translate / rotate --> | ||
| <plugin filename="TransformControl" name="Transform control"> | ||
| <gz-gui> | ||
| <property key="resizable" type="bool">false</property> | ||
| <property key="x" type="double">0</property> | ||
| <property key="y" type="double">50</property> | ||
| <property key="width" type="double">250</property> | ||
| <property key="height" type="double">50</property> | ||
| <property key="state" type="string">floating</property> | ||
| <property key="showTitleBar" type="bool">false</property> | ||
| <property key="cardBackground" type="string">#777777</property> | ||
| </gz-gui> | ||
| </plugin> | ||
|
|
||
| <!-- Inspector --> | ||
| <plugin filename="ComponentInspector" name="Component inspector"> | ||
| <gz-gui> | ||
| <property type="bool" key="showTitleBar">false</property> | ||
| <property type="string" key="state">docked</property> | ||
| </gz-gui> | ||
| </plugin> | ||
|
|
||
| <!-- Entity tree --> | ||
| <plugin filename="EntityTree" name="Entity tree"> | ||
| <gz-gui> | ||
| <property type="bool" key="showTitleBar">false</property> | ||
| <property type="string" key="state">docked</property> | ||
| </gz-gui> | ||
| </plugin> | ||
|
|
||
| <!-- Image Display --> | ||
| <plugin filename="ImageDisplay" name="Image Display"> | ||
| <gz-gui> | ||
| <property type="bool" key="showTitleBar">false</property> | ||
| <property type="string" key="state">docked</property> | ||
| </gz-gui> | ||
| </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> | ||
|
|
||
| <!-- Martian Gravity--> | ||
| <gravity>0 0 -3.711</gravity> | ||
| <gravity>0 0 -3.711</gravity> | ||
|
|
||
| <include> | ||
| <uri>/home/spaceros-user/demos_ws/install/simulation/share/simulation/models/curiosity_path</uri> | ||
| <name>curiosity_path</name> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| </include> | ||
| <include> | ||
| <uri>/home/spaceros-user/demos_ws/install/simulation/share/simulation/models/curiosity_path</uri> | ||
| <name>curiosity_path</name> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| </include> | ||
|
|
||
| </world> | ||
| </sdf> |