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Adding lawn.sdf world to have sky and grassy ground plane for rovers (#…
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…35)
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@slgrobotics
slgrobotics authored Apr 10, 2024
1 parent c3905a7 commit 3018aa8
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Showing 2 changed files with 310 additions and 44 deletions.
84 changes: 40 additions & 44 deletions worlds/default.sdf
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Original file line number Diff line number Diff line change
@@ -1,31 +1,30 @@
<sdf version='1.9'>
<world name='default'>
<?xml version="1.0" encoding="UTF-8"?>
<sdf version="1.9">
<world name="default">
<physics type="ode">
<max_step_size>0.004</max_step_size>
<real_time_factor>1.0</real_time_factor>
<real_time_update_rate>250</real_time_update_rate>
</physics>
<plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
<plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
<plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
<plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
<plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
<plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
<plugin name='gz::sim::systems::ApplyLinkWrench' filename='gz-sim-apply-link-wrench-system'/>
<plugin name='gz::sim::systems::NavSat' filename='gz-sim-navsat-system'/>
<plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
<plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
<plugin name="gz::sim::systems::UserCommands" filename="gz-sim-user-commands-system"/>
<plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
<plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system"/>
<plugin name="gz::sim::systems::Imu" filename="gz-sim-imu-system"/>
<plugin name="gz::sim::systems::AirPressure" filename="gz-sim-air-pressure-system"/>
<plugin name="gz::sim::systems::ApplyLinkWrench" filename="gz-sim-apply-link-wrench-system"/>
<plugin name="gz::sim::systems::NavSat" filename="gz-sim-navsat-system"/>
<plugin name="gz::sim::systems::Sensors" filename="gz-sim-sensors-system">
<render_engine>ogre2</render_engine>
</plugin>
<gui fullscreen='false'>

<gui fullscreen="false">
<!-- 3D scene -->
<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
Expand All @@ -36,7 +35,6 @@
<far>25000</far>
</camera_clip>
</plugin>

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<gz-gui>
Expand Down Expand Up @@ -117,59 +115,58 @@
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin name='World control' filename='WorldControl'>
<plugin name="World control" filename="WorldControl">
<gz-gui>
<title>World control</title>
<property type='bool' key='showTitleBar'>0</property>
<property type='bool' key='resizable'>0</property>
<property type='double' key='height'>72</property>
<property type='double' key='width'>121</property>
<property type='double' key='z'>1</property>
<property type='string' key='state'>floating</property>
<anchors target='3D View'>
<line own='left' target='left'/>
<line own='bottom' target='bottom'/>
<property type="bool" key="showTitleBar">0</property>
<property type="bool" key="resizable">0</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>
<play_pause>1</play_pause>
<step>1</step>
<start_paused>1</start_paused>
</plugin>
<plugin name='World stats' filename='WorldStats'>
<plugin name="World stats" filename="WorldStats">
<gz-gui>
<title>World stats</title>
<property type='bool' key='showTitleBar'>0</property>
<property type='bool' key='resizable'>0</property>
<property type='double' key='height'>110</property>
<property type='double' key='width'>290</property>
<property type='double' key='z'>1</property>
<property type='string' key='state'>floating</property>
<anchors target='3D View'>
<line own='right' target='right'/>
<line own='bottom' target='bottom'/>
<property type="bool" key="showTitleBar">0</property>
<property type="bool" key="resizable">0</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>
<sim_time>1</sim_time>
<real_time>1</real_time>
<real_time_factor>1</real_time_factor>
<iterations>1</iterations>
</plugin>
<plugin name='Entity tree' filename='EntityTree'/>
<plugin name="Entity tree" filename="EntityTree"/>
</gui>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<atmosphere type="adiabatic"/>
<scene>
<grid>false</grid>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<model name='ground_plane'>
<model name="ground_plane">
<static>true</static>
<link name='link'>
<collision name='collision'>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
Expand All @@ -184,7 +181,7 @@
<contact/>
</surface>
</collision>
<visual name='visual'>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
Expand Down Expand Up @@ -215,7 +212,7 @@
<pose>0 0 0 0 -0 0</pose>
<self_collide>false</self_collide>
</model>
<light name='sunUTC' type='directional'>
<light name="sunUTC" type="directional">
<pose>0 0 500 0 -0 0</pose>
<cast_shadows>true</cast_shadows>
<intensity>1</intensity>
Expand Down Expand Up @@ -243,4 +240,3 @@
</spherical_coordinates>
</world>
</sdf>

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