180 lines
4.6 KiB
XML
180 lines
4.6 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<gui>
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<camera name="user_camera">
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<pose>10 11 10 0 0 -2.356</pose>
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</camera>
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</gui>
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<scene>
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<ambient> 0.25 0.3 0.5 1</ambient>
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<grid>false</grid>
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</scene>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 100 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>200 200</size>
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</plane>
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</geometry>
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<surface>
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<contact>
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<collide_bitmask>0xffff</collide_bitmask>
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</contact>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>200 200</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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<include>
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<uri>model://submarine_sinking</uri>
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<pose>5 0 10 1.57 0 0</pose>
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</include>
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<include>
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<uri>model://submarine</uri>
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<pose>0 0 10 1.57 0 0</pose>
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</include>
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<include>
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<uri>model://submarine_buoyant</uri>
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<pose>-5 0 10 1.57 0 0</pose>
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</include>
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<model name="ceiling_plane">
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<static>true</static>
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<pose>0 0 40 0 0 0</pose>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>200 200 .1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<cast_shadows>false</cast_shadows>
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<geometry>
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<box>
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<size>200 200 .1</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/BlueTransparent</name>
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</script>
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</material>
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</visual>
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<visual name="visual_sideA">
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<pose>100.05 0 -20 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<box>
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<size>0.1 200 39.9</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/BlueTransparent</name>
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</script>
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</material>
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</visual>
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<visual name="visual_sideB">
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<pose>-100.05 0 -20 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<box>
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<size>0.1 200 39.9</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/BlueTransparent</name>
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</script>
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</material>
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</visual>
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<visual name="visual_sideC">
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<pose>0 100.05 -20 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<box>
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<size>200 0.1 39.9</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/BlueTransparent</name>
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</script>
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</material>
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</visual>
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<visual name="visual_sideD">
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<pose>0 -100.05 -20 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<box>
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<size>200 0.1 39.9</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/BlueTransparent</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</world>
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</sdf>
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