pxmlw6n2f/Gazebo_Distributed_TCP/worlds/population.world

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2019-03-28 10:57:49 +08:00
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<!-- Testing the automatic population of objects -->
<population name="can_population1">
<model name="can1">
<include>
<uri>model://coke_can</uri>
</include>
</model>
<pose>3 3 0 0 0 0</pose>
<box>
<size>1 1 0.1</size>
</box>
<model_count>10</model_count>
<distribution>
<type>random</type>
</distribution>
</population>
<population name="can_population2">
<model name="can2">
<include>
<uri>model://coke_can</uri>
</include>
</model>
<pose>0 0 0 0 0 0</pose>
<distribution>
<type>grid</type>
<rows>2</rows>
<cols>3</cols>
<step>0.25 0.25 0</step>
</distribution>
</population>
<population name="can_population3">
<model name="can3">
<include>
<uri>model://coke_can</uri>
</include>
</model>
<pose>-3 3 0 0 0 0</pose>
<cylinder>
<radius>1</radius>
<length>0.01</length>
</cylinder>
<model_count>10</model_count>
<distribution>
<type>random</type>
</distribution>
</population>
<population name="can_population4">
<model name="can4">
<include>
<uri>model://coke_can</uri>
</include>
</model>
<pose>1 -4 0 0 0 0</pose>
<box>
<size>4 2 0.01</size>
</box>
<model_count>10</model_count>
<distribution>
<type>uniform</type>
</distribution>
</population>
<population name="can_population5">
<model name="can5">
<include>
<uri>model://coke_can</uri>
</include>
</model>
<pose>-3 -3 0 0 0 0</pose>
<cylinder>
<radius>1</radius>
<length>0.1</length>
</cylinder>
<model_count>10</model_count>
<distribution>
<type>uniform</type>
</distribution>
</population>
<population name="can_population6">
<model name="can6">
<include>
<uri>model://coke_can</uri>
</include>
</model>
<pose>0 4 0 0 0 0</pose>
<box>
<size>2 1 0.01</size>
</box>
<model_count>6</model_count>
<distribution>
<type>linear-x</type>
</distribution>
</population>
<population name="can_population7">
<model name="can7">
<include>
<uri>model://coke_can</uri>
</include>
</model>
<pose>-5 -1 0 0 0 0</pose>
<box>
<size>1 2 0.01</size>
</box>
<model_count>6</model_count>
<distribution>
<type>linear-y</type>
</distribution>
</population>
<population name="can_population8">
<model name="can8">
<static>true</static>
<include>
<uri>model://coke_can</uri>
</include>
</model>
<pose>4 0 0.7 0 0 0</pose>
<box>
<size>0.2 0.2 1.4</size>
</box>
<model_count>6</model_count>
<distribution>
<type>linear-z</type>
</distribution>
</population>
</world>
</sdf>