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This commit is contained in:
Oleg Kalachev
2023-03-26 10:23:30 +03:00
commit e039055c8e
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gazebo/flix.world Normal file
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<?xml version="1.0"?>
<sdf version="1.4">
<world name="default">
<scene>
<ambient>1 1 1 1</ambient>
</scene>
<gui>
<!-- <camera name="user_camera">
<pose>-1 0 0.3 0 0 0</pose>
<track_visual>
<name>flix</name>
<min_dist>2</min_dist>
<max_dist>2</max_dist>
<use_model_frame>1</use_model_frame>
<static>1</static>
<inherit_yaw>1</inherit_yaw>
</track_visual>
</camera> -->
<camera name="user_camera">
<pose>-2 -0.3 1.5 0 0.5 0.1</pose>
</camera>
</gui>
<physics type="ode">
<!-- <real_time_update_rate>100</real_time_update_rate> -->
<max_step_size>0.001</max_step_size>
</physics>
<include>
<uri>model://floor</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://flix</uri>
<pose>0 0 0.2 0 0 0</pose>
</include>
<include>
<uri>model://Table</uri>
<pose>0.2 1.5 0 0 0 0</pose>
</include>
<!-- TODO: redesign, move to flix model -->
<!-- <box><size>0.1 0.1 0.02</size></box> -->
<model name="flix_estimate">
<static>true</static>
<link name="estimate">
<visual name="estimate">
<pose>0 0 0 0 0 1.57</pose>
<geometry>
<!-- <mesh>
<uri>model://flix/plane.dae</uri>
<scale>0.003 0.003 0.003</scale>
</mesh> -->
<box>
<size>0.125711 0.125711 0.022</size>
</box>
</geometry>
</visual>
</link>
</model>
</world>
</sdf>