118 lines
3.5 KiB
XML
118 lines
3.5 KiB
XML
<?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>
|