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335 lines
9.9 KiB
335 lines
9.9 KiB
<?xml version="1.0" encoding="UTF-8"?>
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<sdf version="1.9">
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<world name="kthspacelab">
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<physics type="ode">
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<max_step_size>0.006</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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<real_time_update_rate>200</real_time_update_rate>
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</physics>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type="adiabatic"/>
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<scene>
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<grid>false</grid>
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<ambient>0.8 0.8 0.8 1</ambient>
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<background>0.05 0.05 0.07 1</background>
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<shadows>true</shadows>
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</scene>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>6 6</size>
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</plane>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>6 6</size>
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</plane>
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</geometry>
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<material>
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<ambient>0.95 0.95 0.95 1</ambient>
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<diffuse>0.5 0.5 0.55 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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</visual>
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<pose>2.0 0.5 0 0 0 0</pose>
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<enable_wind>false</enable_wind>
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</link>
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<pose>0 0 0 0 -0 0</pose>
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<self_collide>false</self_collide>
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</model>
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<light name="sunUTC" type="directional">
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<pose>0 0 500 0 -0 0</pose>
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<cast_shadows>true</cast_shadows>
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<intensity>1.5</intensity>
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<direction>0.2 0.6 -0.8</direction>
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<diffuse>1 1 0.98 1</diffuse>
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<specular>0.3 0.3 0.3 1</specular>
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<attenuation>
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<range>2000</range>
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<linear>0</linear>
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<constant>1</constant>
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<quadratic>0</quadratic>
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</attenuation>
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</light>
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<world_frame_orientation>ENU</world_frame_orientation>
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<latitude_deg>47.397971057728974</latitude_deg>
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<longitude_deg> 8.546163739800146</longitude_deg>
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<elevation>0</elevation>
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</spherical_coordinates>
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<!-- KTH Space Robotics Lab Floor Area -->
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<model name="wall_perimeter">
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<static>true</static>
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<link name="segment_0">
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<pose>2.05000 -1.60500 0.050 0 0 0.00000</pose>
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<collision name="collision">
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<geometry>
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<box><size>4.10000 0.05 0.1</size></box>
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</geometry>
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<surface>
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<bounce>
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<restitution_coefficient>1.0</restitution_coefficient>
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<threshold>0.0</threshold>
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</bounce>
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<friction>
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<ode>
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<mu>0.0</mu>
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<mu2>0.0</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<kp>10000</kp>
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<kd>500</kd>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<box><size>4.10000 0.05 0.1</size></box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.2 1</ambient>
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<diffuse>0.25 0.25 0.25 1</diffuse>
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<specular>0.05 0.05 0.05 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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</visual>
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</link>
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<link name="segment_1">
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<pose>4.12500 0.12000 0.050 0 0 1.57080</pose>
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<collision name="collision">
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<geometry>
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<box><size>3.40000 0.05 0.1</size></box>
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</geometry>
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<surface>
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<bounce>
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<restitution_coefficient>1.0</restitution_coefficient>
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<threshold>0.0</threshold>
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</bounce>
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<friction>
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<ode>
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<mu>0.0</mu>
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<mu2>0.0</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<kp>10000</kp>
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<kd>500</kd>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<box><size>3.40000 0.05 0.1</size></box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.2 1</ambient>
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<diffuse>0.25 0.25 0.25 1</diffuse>
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<specular>0.05 0.05 0.05 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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</visual>
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</link>
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<link name="segment_2">
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<pose>3.77442 2.08042 0.050 0 0 2.52693</pose>
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<collision name="collision">
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<geometry>
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<box><size>0.83235 0.05 0.1</size></box>
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</geometry>
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<surface>
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<bounce>
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<restitution_coefficient>1.0</restitution_coefficient>
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<threshold>0.0</threshold>
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</bounce>
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<friction>
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<ode>
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<mu>0.0</mu>
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<mu2>0.0</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<kp>10000</kp>
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<kd>500</kd>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<box><size>0.83235 0.05 0.1</size></box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.2 1</ambient>
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<diffuse>0.25 0.25 0.25 1</diffuse>
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<specular>0.05 0.05 0.05 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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</visual>
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</link>
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<link name="segment_3">
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<pose>2.69000 2.32500 0.050 0 0 3.14159</pose>
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<collision name="collision">
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<geometry>
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<box><size>1.46000 0.05 0.1</size></box>
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</geometry>
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<surface>
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<bounce>
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<restitution_coefficient>1.0</restitution_coefficient>
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<threshold>0.0</threshold>
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</bounce>
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<friction>
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<ode>
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<mu>0.0</mu>
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<mu2>0.0</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<kp>10000</kp>
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<kd>500</kd>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<box><size>1.46000 0.05 0.1</size></box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.2 1</ambient>
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<diffuse>0.25 0.25 0.25 1</diffuse>
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<specular>0.05 0.05 0.05 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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</visual>
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</link>
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<link name="segment_4">
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<pose>1.93500 2.02000 0.050 0 0 -1.57080</pose>
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<collision name="collision">
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<geometry>
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<box><size>0.56000 0.05 0.1</size></box>
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</geometry>
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<surface>
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<bounce>
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<restitution_coefficient>1.0</restitution_coefficient>
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<threshold>0.0</threshold>
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</bounce>
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<friction>
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<ode>
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<mu>0.0</mu>
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<mu2>0.0</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<kp>10000</kp>
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<kd>500</kd>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<box><size>0.56000 0.05 0.1</size></box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.2 1</ambient>
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<diffuse>0.25 0.25 0.25 1</diffuse>
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<specular>0.05 0.05 0.05 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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</visual>
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</link>
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<link name="segment_5">
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<pose>0.98000 1.76500 0.050 0 0 3.14159</pose>
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<collision name="collision">
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<geometry>
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<box><size>1.96000 0.05 0.1</size></box>
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</geometry>
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<surface>
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<bounce>
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<restitution_coefficient>1.0</restitution_coefficient>
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<threshold>0.0</threshold>
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</bounce>
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<friction>
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<ode>
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<mu>0.0</mu>
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<mu2>0.0</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<kp>10000</kp>
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<kd>500</kd>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<box><size>1.96000 0.05 0.1</size></box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.2 1</ambient>
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<diffuse>0.25 0.25 0.25 1</diffuse>
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<specular>0.05 0.05 0.05 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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</visual>
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</link>
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<link name="segment_6">
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<pose>-0.02500 0.08000 0.050 0 0 -1.57080</pose>
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<collision name="collision">
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<geometry>
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<box><size>3.32000 0.05 0.1</size></box>
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</geometry>
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<surface>
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<bounce>
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<restitution_coefficient>1.0</restitution_coefficient>
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<threshold>0.0</threshold>
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</bounce>
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<friction>
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<ode>
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<mu>0.0</mu>
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<mu2>0.0</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<kp>10000</kp>
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<kd>500</kd>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<box><size>3.32000 0.05 0.1</size></box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.2 1</ambient>
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<diffuse>0.25 0.25 0.25 1</diffuse>
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<specular>0.05 0.05 0.05 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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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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