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63 lines
1.4 KiB
XML
63 lines
1.4 KiB
XML
<?xml version="1.0"?>
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<sdf version="1.4">
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<world name="default">
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<scene>
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<ambient>1 1 1 1</ambient>
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</scene>
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<gui>
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<!-- <camera name="user_camera">
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<pose>-1 0 0.3 0 0 0</pose>
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<track_visual>
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<name>flix</name>
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<min_dist>2</min_dist>
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<max_dist>2</max_dist>
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<use_model_frame>1</use_model_frame>
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<static>1</static>
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<inherit_yaw>1</inherit_yaw>
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</track_visual>
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</camera> -->
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<camera name="user_camera">
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<pose>-2 -0.3 1.5 0 0.5 0.1</pose>
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</camera>
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</gui>
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<physics type="ode">
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<!-- <real_time_update_rate>100</real_time_update_rate> -->
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<max_step_size>0.001</max_step_size>
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</physics>
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<include>
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<uri>model://floor</uri>
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</include>
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<include>
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<uri>model://sun</uri>
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</include>
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<include>
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<uri>model://flix</uri>
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<pose>0 0 0.2 0 0 0</pose>
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</include>
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<include>
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<uri>model://Table</uri>
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<pose>0.2 1.5 0 0 0 0</pose>
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</include>
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<!-- TODO: redesign, move to flix model -->
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<!-- <box><size>0.1 0.1 0.02</size></box> -->
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<model name="flix_estimate">
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<static>true</static>
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<link name="estimate">
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<visual name="estimate">
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<pose>0 0 0 0 0 1.57</pose>
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<geometry>
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<!-- <mesh>
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<uri>model://flix/plane.dae</uri>
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<scale>0.003 0.003 0.003</scale>
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</mesh> -->
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<box>
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<size>0.125711 0.125711 0.022</size>
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</box>
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</geometry>
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</visual>
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</link>
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</model>
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</world>
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</sdf>
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