pxmlw6n2f/Gazebo_Distributed_TCP/worlds/ssao_plugin.world

150 lines
3.3 KiB
Plaintext
Raw Permalink Normal View History

2019-03-28 10:57:49 +08:00
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="default">
<scene>
<ambient>1.0 1.0 1.0 1.0</ambient>
<grid>0</grid>
<origin_visual>0</origin_visual>
</scene>
<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>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<plugin name="ssao" filename="libAmbientOcclusionVisualPlugin.so"/>
</visual>
</link>
</model>
<model name="box">
<pose>0 0 0.5 0 0 0.785</pose>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</visual>
</link>
</model>
<model name="top">
<pose>0 0 5 0 0 0</pose>
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>5 5 0.2</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>5 5 0.2</size>
</box>
</geometry>
</visual>
</link>
</model>
<model name="left">
<pose>0 -2.4 2.45 0 0 0</pose>
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>5 0.2 4.9</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>5 0.2 4.9</size>
</box>
</geometry>
</visual>
</link>
</model>
<model name="right">
<pose>0 2.4 2.45 0 0 0</pose>
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>5 0.2 4.9</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>5 0.2 4.9</size>
</box>
</geometry>
</visual>
</link>
</model>
<model name="back">
<pose>-2.4 0 2.45 0 0 0</pose>
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>0.2 4.8 4.9</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.2 4.8 4.9</size>
</box>
</geometry>
</visual>
</link>
</model>
</world>
</sdf>