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2026-02-09 03:39:49 +00:00
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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>