This repository was archived by the owner on Feb 3, 2025. It is now read-only.
-
Notifications
You must be signed in to change notification settings - Fork 497
/
Copy pathlight.world
90 lines (79 loc) · 3.18 KB
/
light.world
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
<gazebo version="1.0">
<world name="world_1">
<scene>
<ambient rgba="0.5 0.5 0.5 1.0"/>
<background rgba="0.5 0.5 0.5 1.0">
<sky material="Gazebo/CloudySky"/>
</background>
<shadows enabled="true" rgba="0.0 0.0 0.5 0.5" type="texture_gpu"/>
<fog rgba="0.0 0.0 0.5 0.5" type="linear" start="2.0" end="10.0" density="0.5"/>
</scene>
<physics type="ode">
<ode>
<max_contacts>250</max_contacts>
<solver type="quick" dt="0.001" iters="20" sor="1.3"/>
<constraints cfm="0" erp="0.2" contact_max_correcting_vel="100.0" contact_surface_layer="0.0"/>
</ode>
<gravity xyz="0.0 0.0 -9.81"/>
</physics>
<model name="model_2" static="false">
<origin pose="0.0 0.0 1.0 0.0 0.0 0.0"/>
<link name="link_1" self_collide="true" gravity="false" kinematic="false">
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
<inertial mass="10.0">
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
<damping linear="0.0" angular="0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
iyy="1.0" iyz="0.0"
izz="1.0"/>
</inertial>
<visual cast_shadows="true" name="visual_plane" laser_retro="100.0">
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
<geometry>
<plane normal="0.0 0.0 1.0"/>
</geometry>
<material script="Gazebo/Green" normal_map="normal_map.png">
<color rgba="0.03 0.5 0.5 1.0"/>
</material>
</visual>
<collision name="collision_plane" laser_retro="100.0">
<origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
<max_contacts>250</max_contacts>
<geometry>
<plane normal="0.0 0.0 1.0"/>
</geometry>
<surface>
<friction>
<ode mu="0.5" mu2="0.2" fdir1="1.0 0 0" slip1="0" slip2="0"/>
</friction>
<bounce restitution_coefficient="0" threshold="1000000.0"/>
<contact>
<ode soft_cfm="0" soft_erp="0.2" kp="1e15" kd="1e13" max_vel="100.0" min_depth="0.0001"/>
</contact>
</surface>
</collision>
</link>
</model>
<light type="point" name="light_1" cast_shadows="true">
<origin pose="0.0 0.0 10.0 0.0 0.0 0.0"/>
<diffuse rgba="0.5 0.5 0.5 0.5"/>
<attenuation range="1000.0" constant="0.01" quadratic="0.0001"/>
<direction xyz="0 0 -1"/>
<spot inner_angle="1.57" outer_angle="1.57" falloff="1.0" />
</light>
<light type="spot" name="light_2" cast_shadows="true">
<origin pose="10.0 0.0 10.0 0.0 0.0 0.0"/>
<diffuse rgba="0.5 0.5 0.5 0.5"/>
<attenuation range="1000.0" constant="0.01" quadratic="0.0001"/>
<direction xyz="0 0 -1"/>
<spot inner_angle="1.57" outer_angle="1.57" falloff="1.0" />
</light>
<light type="directional" name="light_3" cast_shadows="true">
<origin pose="-10.0 0.0 10.0 0.0 0.0 0.0"/>
<diffuse rgba="0.5 0.5 0.5 0.5"/>
<attenuation range="1000.0" constant="0.01" quadratic="0.0001"/>
<direction xyz="0 0 -1"/>
<spot inner_angle="1.57" outer_angle="1.57" falloff="1.0" />
</light>
</world>
</gazebo>