-
Notifications
You must be signed in to change notification settings - Fork 264
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
1 changed file
with
176 additions
and
0 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,176 @@ | ||
| <?xml version="1.0" ?> | ||
| <!-- | ||
| Demo world with a Resource Spawner plugin. It might take some minutes to | ||
| download the models | ||
| --> | ||
| <sdf version="1.6"> | ||
| <world name="resource_spawner"> | ||
| <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-sensors-system" | ||
| name="gz::sim::systems::Sensors"> | ||
| <render_engine>ogre2</render_engine> | ||
| </plugin> | ||
| <plugin | ||
| filename="gz-sim-scene-broadcaster-system" | ||
| name="gz::sim::systems::SceneBroadcaster"> | ||
| </plugin> | ||
|
|
||
| <gui fullscreen="0"> | ||
| <!-- 3D scene --> | ||
| <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> | ||
| </gz-gui> | ||
| <engine>ogre2</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>-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> | ||
| <!-- World control --> | ||
| <plugin filename="WorldControl" name="World control"> | ||
| <gz-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> | ||
| </gz-gui> | ||
| <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> | ||
| <!-- Resource Spawner plugin --> | ||
| <plugin filename="ResourceSpawner" name="ResourceSpawner"> | ||
| <gz-gui> | ||
| <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> | ||
|
|
||
| <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--> | ||
| <box> | ||
| <size>20 20 0.1</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <!--plane> | ||
| <normal>0 0 1</normal> | ||
| <size>100 100</size> | ||
| </plane--> | ||
| <box> | ||
| <size>20 20 0.1</size> | ||
| </box> | ||
| </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> | ||
| </world> | ||
| </sdf> |