simulation/worlds/indoor_warehouse.world

<?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>