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2026-02-09 03:39:49 +00:00
commit a756be4bf7
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85
worlds/empty_custom.world Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<world name="empty_custom">
<physics type="ode">
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://ground_plane</uri>
</include>
<model name="visual_markers">
<static>true</static>
<link name="marker_0">
<pose>5 0 0.01 0 0 0</pose>
<visual name="visual">
<geometry>
<box><size>0.5 0.5 0.01</size></box>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
</material>
</visual>
</link>
<link name="marker_1">
<pose>10 5 0.01 0 0 0</pose>
<visual name="visual">
<geometry>
<box><size>0.5 0.5 0.01</size></box>
</geometry>
<material>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
</material>
</visual>
</link>
<link name="marker_2">
<pose>5 10 0.01 0 0 0</pose>
<visual name="visual">
<geometry>
<box><size>0.5 0.5 0.01</size></box>
</geometry>
<material>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
</material>
</visual>
</link>
</model>
<model name="origin_marker">
<static>true</static>
<pose>0 0 0.01 0 0 0</pose>
<link name="link">
<visual name="visual">
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.02</length>
</cylinder>
</geometry>
<material>
<ambient>1 1 0 1</ambient>
<diffuse>1 1 0 1</diffuse>
</material>
</visual>
</link>
</model>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>47.397742</latitude_deg>
<longitude_deg>8.545594</longitude_deg>
<elevation>488.0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
</world>
</sdf>

189
worlds/indoor_warehouse.world Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<world name="indoor_warehouse">
<physics type="ode">
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<light name="warehouse_light_1" type="point">
<pose>10 10 8 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>50</range>
<constant>0.5</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
</light>
<light name="warehouse_light_2" type="point">
<pose>30 10 8 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>50</range>
<constant>0.5</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
</light>
<model name="floor">
<static>true</static>
<pose>20 10 0 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<box><size>50 30 0.1</size></box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box><size>50 30 0.1</size></box>
</geometry>
<material>
<ambient>0.5 0.5 0.5 1</ambient>
<diffuse>0.5 0.5 0.5 1</diffuse>
</material>
</visual>
</link>
</model>
<model name="ceiling">
<static>true</static>
<pose>20 10 10 0 0 0</pose>
<link name="link">
<visual name="visual">
<geometry>
<box><size>50 30 0.1</size></box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
</material>
</visual>
</link>
</model>
<model name="wall_north">
<static>true</static>
<pose>20 25 5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry><box><size>50 0.3 10</size></box></geometry>
</collision>
<visual name="visual">
<geometry><box><size>50 0.3 10</size></box></geometry>
<material><ambient>0.7 0.7 0.7 1</ambient></material>
</visual>
</link>
</model>
<model name="wall_south">
<static>true</static>
<pose>20 -5 5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry><box><size>50 0.3 10</size></box></geometry>
</collision>
<visual name="visual">
<geometry><box><size>50 0.3 10</size></box></geometry>
<material><ambient>0.7 0.7 0.7 1</ambient></material>
</visual>
</link>
</model>
<model name="wall_east">
<static>true</static>
<pose>45 10 5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry><box><size>0.3 30 10</size></box></geometry>
</collision>
<visual name="visual">
<geometry><box><size>0.3 30 10</size></box></geometry>
<material><ambient>0.7 0.7 0.7 1</ambient></material>
</visual>
</link>
</model>
<model name="wall_west">
<static>true</static>
<pose>-5 10 5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry><box><size>0.3 30 10</size></box></geometry>
</collision>
<visual name="visual">
<geometry><box><size>0.3 30 10</size></box></geometry>
<material><ambient>0.7 0.7 0.7 1</ambient></material>
</visual>
</link>
</model>
<model name="shelf_1">
<static>true</static>
<pose>10 5 1.5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry><box><size>8 1 3</size></box></geometry>
</collision>
<visual name="visual">
<geometry><box><size>8 1 3</size></box></geometry>
<material><ambient>0.6 0.4 0.2 1</ambient></material>
</visual>
</link>
</model>
<model name="shelf_2">
<static>true</static>
<pose>10 15 1.5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry><box><size>8 1 3</size></box></geometry>
</collision>
<visual name="visual">
<geometry><box><size>8 1 3</size></box></geometry>
<material><ambient>0.6 0.4 0.2 1</ambient></material>
</visual>
</link>
</model>
<model name="shelf_3">
<static>true</static>
<pose>30 5 1.5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry><box><size>8 1 3</size></box></geometry>
</collision>
<visual name="visual">
<geometry><box><size>8 1 3</size></box></geometry>
<material><ambient>0.6 0.4 0.2 1</ambient></material>
</visual>
</link>
</model>
<model name="shelf_4">
<static>true</static>
<pose>30 15 1.5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry><box><size>8 1 3</size></box></geometry>
</collision>
<visual name="visual">
<geometry><box><size>8 1 3</size></box></geometry>
<material><ambient>0.6 0.4 0.2 1</ambient></material>
</visual>
</link>
</model>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>47.397742</latitude_deg>
<longitude_deg>8.545594</longitude_deg>
<elevation>488.0</elevation>
</spherical_coordinates>
</world>
</sdf>

117
worlds/urban_canyon.world Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<world name="urban_canyon">
<physics type="ode">
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://ground_plane</uri>
</include>
<model name="building_1">
<static>true</static>
<pose>-15 0 15 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry><box><size>10 20 30</size></box></geometry>
</collision>
<visual name="visual">
<geometry><box><size>10 20 30</size></box></geometry>
<material><ambient>0.5 0.5 0.6 1</ambient></material>
</visual>
</link>
</model>
<model name="building_2">
<static>true</static>
<pose>15 0 20 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry><box><size>10 20 40</size></box></geometry>
</collision>
<visual name="visual">
<geometry><box><size>10 20 40</size></box></geometry>
<material><ambient>0.6 0.5 0.5 1</ambient></material>
</visual>
</link>
</model>
<model name="building_3">
<static>true</static>
<pose>-15 30 12.5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry><box><size>10 20 25</size></box></geometry>
</collision>
<visual name="visual">
<geometry><box><size>10 20 25</size></box></geometry>
<material><ambient>0.5 0.6 0.5 1</ambient></material>
</visual>
</link>
</model>
<model name="building_4">
<static>true</static>
<pose>15 30 17.5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry><box><size>10 20 35</size></box></geometry>
</collision>
<visual name="visual">
<geometry><box><size>10 20 35</size></box></geometry>
<material><ambient>0.55 0.55 0.55 1</ambient></material>
</visual>
</link>
</model>
<model name="street">
<static>true</static>
<pose>0 15 0.01 0 0 0</pose>
<link name="link">
<visual name="visual">
<geometry><box><size>12 50 0.02</size></box></geometry>
<material><ambient>0.2 0.2 0.2 1</ambient></material>
</visual>
</link>
</model>
<model name="street_markers">
<static>true</static>
<link name="line_1">
<pose>0 5 0.02 0 0 0</pose>
<visual name="visual">
<geometry><box><size>0.2 3 0.01</size></box></geometry>
<material><ambient>1 1 1 1</ambient></material>
</visual>
</link>
<link name="line_2">
<pose>0 15 0.02 0 0 0</pose>
<visual name="visual">
<geometry><box><size>0.2 3 0.01</size></box></geometry>
<material><ambient>1 1 1 1</ambient></material>
</visual>
</link>
<link name="line_3">
<pose>0 25 0.02 0 0 0</pose>
<visual name="visual">
<geometry><box><size>0.2 3 0.01</size></box></geometry>
<material><ambient>1 1 1 1</ambient></material>
</visual>
</link>
</model>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>47.397742</latitude_deg>
<longitude_deg>8.545594</longitude_deg>
<elevation>488.0</elevation>
</spherical_coordinates>
</world>
</sdf>