Projects/RCLL-SS2018: llsf-default-SS2018.world

File llsf-default-SS2018.world, 4.1 KB (added by thofmann, 2 years ago)
Line 
1<?xml version="1.0" ?>
2<sdf version="1.4">
3  <world name="LLSF">
4
5    <!-- Physics, to determine the simulation speed (step size and update rate) -->
6    <physics type="ode">
7      <max_step_size>0.004</max_step_size>
8      <real_time_factor>1</real_time_factor>
9      <real_time_update_rate>300</real_time_update_rate>
10    </physics>
11
12    <scene>
13      <ambient>0.5 0.5 0.5 1.0</ambient>
14      <shadows>0</shadows>
15    </scene>
16   
17    <gui>
18      <camera name="user camera">
19        <pose>1 -2 9.5 0 1.1 1.56</pose>
20      </camera>
21    </gui>
22
23    <!-- Ground Plane -->
24    <include>
25      <uri>model://ground_plane</uri>
26    </include>
27    <include>
28      <uri>model://sun</uri>
29    </include>
30
31    <!-- Field  -->
32    <include>
33      <uri>model://german_open_field</uri>
34    </include>
35
36    <!-- World Plugin -->
37    <!-- <plugin name="world" filename="libllsf.so" /> -->
38
39
40    <!-- Robotinos  -->
41    <!-- Team Cyan -->
42    <include>
43      <uri>model://robotino-nr-1</uri>
44      <pose>3.5 -0.5 0 0 0 1.57</pose>
45    </include>
46    <include>
47      <uri>model://robotino-nr-2</uri>
48      <pose>4.5 -0.5 0 0 0 1.57</pose>
49    </include>
50    <include>
51      <uri>model://robotino-nr-3</uri>
52      <pose>5.5 -0.5 0 0 0 1.57</pose>
53    </include> -->
54    <!-- Team Magenta -->
55   
56    <!-- Light -->
57    <light name="light" type="point">
58      <cast_shadows>false</cast_shadows>
59      <pose>-12 3 1 0 0 0</pose>
60      <diffuse>127 127 127 255</diffuse>
61      <specular>25 25 25 255</specular>
62      <attenuation>
63        <range>20.0</range>
64        <linear>0.01</linear>
65        <constant>0.7</constant>
66        <quadratic>0.00</quadratic>
67      </attenuation>
68    </light>
69
70    <!-- Machines (should later be spawned by a world plugin according to the refbox) -->
71    <include>
72      <name>C-CS1</name>
73      <uri>model://mps_cap</uri>
74      <pose>-4.5 5.1 0 0 0 1.57</pose>
75    </include>
76
77    <include>
78      <name>C-DS</name>
79      <uri>model://mps_delivery</uri>
80      <pose>1 5.0 0 0 0 1.57</pose>
81    </include>
82
83    <include>
84      <name>C-CS2</name>
85      <uri>model://mps_cap</uri>
86      <pose>-3.2 2.5 0 0 0 1.57</pose>
87    </include>
88
89    <include>
90      <name>C-RS1</name>
91      <uri>model://mps_ring</uri>
92      <pose>1 2.5 0 0 0 0</pose>
93    </include>
94
95    <include>
96      <name>C-RS2</name>
97      <uri>model://mps_ring</uri>
98      <pose>4.8 3.5 0 0 0 0</pose>
99    </include>
100
101    <include>
102      <name>C-BS</name>
103      <uri>model://mps_base</uri>
104      <pose>4.5 1.0 0 0 0 0</pose>
105    </include>
106
107    <!-- Tags (are later grapped by the mps)  -->
108    <include>
109      <name>tag_01</name>
110      <uri>model://tag</uri>
111      <pose>0 -1 0.2 0 0 0</pose>
112    </include>
113    <include>
114      <name>tag_02</name>
115      <uri>model://tag</uri>
116      <pose>0 -1 0.2 0 0 0</pose>
117    </include>
118    <include>
119      <name>tag_17</name>
120      <uri>model://tag</uri>
121      <pose>0 -1 0.2 0 0 0</pose>
122    </include>
123    <include>
124      <name>tag_18</name>
125      <uri>model://tag</uri>
126      <pose>0 -1 0.2 0 0 0</pose>
127    </include>
128    <include>
129      <name>tag_33</name>
130      <uri>model://tag</uri>
131      <pose>0 -1 0.2 0 0 0</pose>
132    </include>
133    <include>
134      <name>tag_34</name>
135      <uri>model://tag</uri>
136      <pose>0 -1 0.2 0 0 0</pose>
137    </include>
138    <include>
139      <name>tag_177</name>
140      <uri>model://tag</uri>
141      <pose>0 -1 0.2 0 0 0</pose>
142    </include>
143    <include>
144      <name>tag_178</name>
145      <uri>model://tag</uri>
146      <pose>0 -1 0.2 0 0 0</pose>
147    </include>
148    <include>
149      <name>tag_65</name>
150      <uri>model://tag</uri>
151      <pose>0 -1 0.2 0 0 0</pose>
152    </include>
153    <include>
154      <name>tag_66</name>
155      <uri>model://tag</uri>
156      <pose>0 -1 0.2 0 0 0</pose>
157    </include>
158    <include>
159      <name>tag_81</name>
160      <uri>model://tag</uri>
161      <pose>0 -1 0.2 0 0 0</pose>
162    </include>
163    <include>
164      <name>tag_82</name>
165      <uri>model://tag</uri>
166      <pose>0 -1 0.2 0 0 0</pose>
167    </include>
168   
169
170    <!-- Plugins for the world -->
171    <plugin name="llsf_refbox_comm" filename="libllsf_refbox_comm.so" />
172    <plugin name="timesync" filename="libtimesync.so" />
173    <!-- <plugin name="mps_placement" filename="libmps_placement.so" /> -->
174  </world>
175</sdf>