Skip to content

Instantly share code, notes, and snippets.

@espetro

espetro/_template.world

Last active May 19, 2019 18:22
Show Gist options
  • Save espetro/833457711159337bcc9a65e691d61777 to your computer and use it in GitHub Desktop.
Save espetro/833457711159337bcc9a65e691d61777 to your computer and use it in GitHub Desktop.
Download ZIP
Parrot-Sphinx world template
Raw
_template.world
<?xml version="1.0"?>
<sdf version='1.5'>
<world name='default'>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>2.70464 -1.54753 3.05779 0 0.339643 2.2362</pose>
<track_visual>
<static>true</static>
<use_model_frame>true</use_model_frame>
<xyz>-3 0 1</xyz>
<inherit_yaw>true</inherit_yaw>
</track_visual>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
<spherical_coordinates>
<latitude_deg>46.414296</latitude_deg>
<longitude_deg>6.928084</longitude_deg>
</spherical_coordinates>
<physics type="ode">
<real_time_update_rate>1000</real_time_update_rate>
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
<max_contacts>20</max_contacts>
<gravity>0 0 -9.81</gravity>
<magnetic_field>0.1062e-6 20.8038e-6 -43.2881e-6</magnetic_field>
<ode>
<solver>
<type>world</type>
<min_step_size>0.0001</min_step_size>
<iters>50</iters>
<precon_iters>0</precon_iters>
<sor>1.4</sor>
<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100.0</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
</physics>
<atmosphere type="adiabatic">
<temperature>298.15</temperature>
<pressure>101325</pressure>
<temperature_gradient>-0.0065</temperature_gradient>
</atmosphere>
<plugin name="fwman" filename="libsphinx_fwman.so">
<spawn_point name="default">
<pose>0 0 0.2 0 0 0</pose>
</spawn_point>
</plugin>
<!--*****************-->
<!--Scene description-->
<!--*****************-->
<include>
<uri>model://ground_plane</uri>
</include>
<!-- Models are included in this basis. You can assign them a name and a start pose -->
<!--
<include>
<name>washer_1</name>
<uri>model://washer</uri>
<pose>0 1.5 0 0 0 0</pose>
</include>
-->
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 400 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
</world>
</sdf>
Raw
simple_walk.path
<?xml version="1.0" encoding="UTF-8"?>
<!-- This path is defined to follow the numbered model targets in the world $SPHINX_ROOT/worlds/simple_path.world
-->
<path name="follow_targets">
<auto_start>true</auto_start>
<delay_start>1.000000</delay_start>
<loop>false</loop>
<waypoint>
<animation>walk</animation>
<velocity>1</velocity>
<xy>0 -1</xy>
</waypoint>
<waypoint>
<animation>walk</animation>
<velocity>1</velocity>
<model>washer_1</model>
</waypoint>
<waypoint>
<animation>walk</animation>
<velocity>1</velocity>
<model>washer_2</model>
</waypoint>
<waypoint>
<animation>walk</animation>
<velocity>1</velocity>
<model>washer_3</model>
</waypoint>
<waypoint>
<animation>walk</animation>
<velocity>1</velocity>
<model>washer_4</model>
</waypoint>
<waypoint>
<animation>walk</animation>
<velocity>1</velocity>
<model>washer_5</model>
</waypoint>
<waypoint>
<animation>walk</animation>
<velocity>1</velocity>
<model>washer_6</model>
</waypoint>
<waypoint>
<animation>walk</animation>
<velocity>1</velocity>
<model>washer_7</model>
</waypoint>
<waypoint>
<animation>walk</animation>
<velocity>1</velocity>
<model>washer_8</model>
</waypoint>
<waypoint>
<animation>walk</animation>
<velocity>1</velocity>
<model>washer_9</model>
</waypoint>
<waypoint>
<animation>walk</animation>
<velocity>1</velocity>
<model>washer_10</model>
</waypoint>
<waypoint>
<animation>walk</animation>
<velocity>1</velocity>
<model>washer_11</model>
</waypoint>
</path>
Raw
simple_walk.world
<?xml version="1.0"?>
<sdf version='1.5'>
<world name='default'>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>2.70464 -1.54753 3.05779 0 0.339643 2.2362</pose>
<track_visual>
<static>true</static>
<use_model_frame>true</use_model_frame>
<xyz>-3 0 1</xyz>
<inherit_yaw>true</inherit_yaw>
</track_visual>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
<spherical_coordinates>
<latitude_deg>46.414296</latitude_deg>
<longitude_deg>6.928084</longitude_deg>
</spherical_coordinates>
<physics type="ode">
<real_time_update_rate>1000</real_time_update_rate>
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
<max_contacts>20</max_contacts>
<gravity>0 0 -9.81</gravity>
<magnetic_field>0.1062e-6 20.8038e-6 -43.2881e-6</magnetic_field>
<ode>
<solver>
<type>world</type>
<min_step_size>0.0001</min_step_size>
<iters>50</iters>
<precon_iters>0</precon_iters>
<sor>1.4</sor>
<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100.0</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
</physics>
<atmosphere type="adiabatic">
<temperature>298.15</temperature>
<pressure>101325</pressure>
<temperature_gradient>-0.0065</temperature_gradient>
</atmosphere>
<plugin name="fwman" filename="libsphinx_fwman.so">
<spawn_point name="default">
<pose>0 0 0.2 0 0 0</pose>
</spawn_point>
</plugin>
<!--*****************-->
<!--Scene description-->
<!--*****************-->
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<name>washer_1</name>
<uri>model://washer</uri>
<pose>0 1.5 0 0 0 0</pose>
</include>
<include>
<name>washer_2</name>
<uri>model://washer</uri>
<pose>0 3 0 0 0 0</pose>
</include>
<include>
<name>washer_3</name>
<uri>model://washer</uri>
<pose>0 5 0 0 0 0</pose>
</include>
<include>
<name>washer_4</name>
<uri>model://washer</uri>
<pose>0 7 0 0 0 0</pose>
</include>
<include>
<name>washer_5</name>
<uri>model://washer</uri>
<pose>0 9 0 0 0 0</pose>
</include>
<include>
<name>washer_6</name>
<uri>model://washer</uri>
<pose>0 11 0 0 0 0</pose>
</include>
<include>
<name>washer_7</name>
<uri>model://washer</uri>
<pose>0 13 0 0 0 0</pose>
</include>
<include>
<name>washer_8</name>
<uri>model://washer</uri>
<pose>0 15 0 0 0 0</pose>
</include>
<include>
<name>washer_9</name>
<uri>model://washer</uri>
<pose>0 17 0 0 0 0</pose>
</include>
<include>
<name>washer_10</name>
<uri>model://washer</uri>
<pose>0 19 0 0 0 0</pose>
</include>
<include>
<name>washer_11</name>
<uri>model://washer</uri>
<pose>0 21 0 0 0 0</pose>
</include>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 400 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
</world>
</sdf>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment