[Jderobot-admin] jderobot-r914 - in trunk/src/components/gazeboserver: . worlds
bmenendez en jderobot.org
bmenendez en jderobot.org
Jue Mayo 9 12:39:13 CEST 2013
Author: bmenendez
Date: 2013-05-09 12:38:13 +0200 (Thu, 09 May 2013)
New Revision: 914
Added:
trunk/src/components/gazeboserver/worlds/
trunk/src/components/gazeboserver/worlds/departamental2.world
trunk/src/components/gazeboserver/worlds/jaramaSigueLineas.world
trunk/src/components/gazeboserver/worlds/pioneer2dxJde.world
trunk/src/components/gazeboserver/worlds/reconstruccion3D.world
Log:
[bmenendez] Subidos los mundos mas utilizados habitualmente, a saber:
* departamental2.world
* jaramaSigueLineas.world
* pioneer2dxJde.world
* reconstruccion3D.world
Added: trunk/src/components/gazeboserver/worlds/departamental2.world
===================================================================
--- trunk/src/components/gazeboserver/worlds/departamental2.world (rev 0)
+++ trunk/src/components/gazeboserver/worlds/departamental2.world 2013-05-09 10:38:13 UTC (rev 914)
@@ -0,0 +1,2607 @@
+<?xml version="1.0" ?>
+<sdf version="1.3">
+ <world name="default">
+
+ <!-- Ground -->
+ <include>
+ <uri>model://ground_plane</uri>
+ </include>
+
+ <!-- A global light source -->
+ <include>
+ <uri>model://sun</uri>
+ </include>
+
+ <!-- Pioneer2dx model -->
+ <include>
+ <uri>model://pioneer2dxJde</uri>
+ <pose>9.2 0 0 0 0 1.57</pose>
+ </include>
+
+ <model name='Departamental'>
+ <link name='Wall_0'>
+ <collision name='Wall_0_Collision'>
+ <geometry>
+ <box>
+ <size>9.198170 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_0_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>9.198170 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
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+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>-3.791000 2.666080 0.000000 0.000000 0.000000 1.570800</pose>
+ </link>
+ <link name='Wall_1'>
+ <collision name='Wall_1_Collision'>
+ <geometry>
+ <box>
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+ </box>
+ </geometry>
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+ <visual name='Wall_1_Visual'>
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+ <geometry>
+ <box>
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+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
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+ </velocity_decay>
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+ </link>
+ <link name='Wall_102'>
+ <collision name='Wall_102_Collision'>
+ <geometry>
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+ </box>
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+ </collision>
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+ <geometry>
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+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
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+ </link>
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+ </velocity_decay>
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+ <collision name='Wall_62_Collision'>
+ <geometry>
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+ </box>
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+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
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+ <geometry>
+ <box>
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+ </box>
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+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
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+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
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+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
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+ <collision name='Wall_68_Collision'>
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+ <geometry>
+ <box>
+ <size>1.654750 0.200000 2.500000</size>
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+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
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+ <pose>8.145850 3.124820 0.000000 0.000000 0.000000 -1.570800</pose>
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+ <link name='Wall_70'>
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+ <geometry>
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+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
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+ <collision name='Wall_72_Collision'>
+ <geometry>
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+ </box>
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+ </collision>
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+ <geometry>
+ <box>
+ <size>1.681200 0.200000 2.500000</size>
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+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
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+ <pose>8.198750 -1.808110 0.000000 0.000000 0.000000 -1.570800</pose>
+ </link>
+ <link name='Wall_74'>
+ <collision name='Wall_74_Collision'>
+ <geometry>
+ <box>
+ <size>2.206490 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_74_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>2.206490 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>8.225200 -4.292550 0.000000 0.000000 0.000000 -1.570800</pose>
+ </link>
+ <link name='Wall_77'>
+ <collision name='Wall_77_Collision'>
+ <geometry>
+ <box>
+ <size>4.639220 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_77_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>4.639220 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>8.312150 -8.632610 0.000000 0.000000 0.000000 -1.570800</pose>
+ </link>
+ <link name='Wall_80'>
+ <collision name='Wall_80_Collision'>
+ <geometry>
+ <box>
+ <size>2.340100 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_80_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>2.340100 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>8.284410 -12.759700 0.000000 0.000000 0.000000 1.570800</pose>
+ </link>
+ <link name='Wall_83'>
+ <collision name='Wall_83_Collision'>
+ <geometry>
+ <box>
+ <size>5.503730 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_83_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>5.503730 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>5.539490 -8.619070 0.000000 0.000000 0.000000 3.141590</pose>
+ </link>
+ <link name='Wall_85'>
+ <collision name='Wall_85_Collision'>
+ <geometry>
+ <box>
+ <size>5.503730 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_85_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>5.503730 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>5.446450 -4.431920 0.000000 0.000000 0.000000 3.141590</pose>
+ </link>
+ <link name='Wall_87'>
+ <collision name='Wall_87_Collision'>
+ <geometry>
+ <box>
+ <size>5.689820 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_87_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>5.689820 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>5.353400 -1.547440 0.000000 0.000000 0.000000 3.141590</pose>
+ </link>
+ <link name='Wall_89'>
+ <collision name='Wall_89_Collision'>
+ <geometry>
+ <box>
+ <size>5.224580 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_89_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>5.224580 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>5.399920 0.592661 0.000000 0.000000 0.000000 3.141590</pose>
+ </link>
+ <link name='Wall_91'>
+ <collision name='Wall_91_Collision'>
+ <geometry>
+ <box>
+ <size>5.410680 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_91_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>5.410680 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>5.492970 3.198000 0.000000 0.000000 0.000000 3.141590</pose>
+ </link>
+ <link name='Wall_93'>
+ <collision name='Wall_93_Collision'>
+ <geometry>
+ <box>
+ <size>7.035130 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_93_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>7.035130 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>-9.740420 10.204800 0.000000 0.000000 0.000000 0.000000</pose>
+ </link>
+ <link name='Wall_95'>
+ <collision name='Wall_95_Collision'>
+ <geometry>
+ <box>
+ <size>3.473730 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_95_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>3.473730 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>-3.337730 10.367500 0.000000 0.000000 0.000000 0.000000</pose>
+ </link>
+ <link name='Wall_97'>
+ <collision name='Wall_97_Collision'>
+ <geometry>
+ <box>
+ <size>4.108010 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_97_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>4.108010 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>1.460860 10.386200 0.000000 0.000000 0.000000 0.000000</pose>
+ </link>
+ <link name='Wall_99'>
+ <collision name='Wall_99_Collision'>
+ <geometry>
+ <box>
+ <size>10.435300 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Wall_99_Visual'>
+ <pose>0.000000 0.000000 1.250000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>10.435300 0.200000 2.500000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>9.742110 10.386200 0.000000 0.000000 0.000000 0.000000</pose>
+ </link>
+ <link name='Window_0'>
+ <collision name='Window_0_Collision'>
+ <geometry>
+ <box>
+ <size>0.800000 0.200000 0.800000</size>
+ </box>
+ </geometry>
+ <pose>0.000000 0.000000 0.400000 0.000000 0.000000 0.000000</pose>
+ </collision>
+ <visual name='Window_0_Visual'>
+ <pose>0.000000 0.000000 0.400000 0.000000 0.000000 0.000000</pose>
+ <geometry>
+ <box>
+ <size>0.800000 0.200000 0.800000</size>
+ </box>
+ </geometry>
+ <material>
+ <script>
+ <uri>file://media/materials/scripts/gazebo.material</uri>
+ <name>Gazebo/Grey</name>
+ </script>
+ </material>
+ </visual>
+ <velocity_decay>
+ <linear>0.000000</linear>
+ <angular>0.000000</angular>
+ </velocity_decay>
+ <pose>-65.557300 -3.168070 0.500000 0.000000 0.000000 0.000000</pose>
+ </link>
+ <static>1</static>
+ </model>
+
+ </world>
+</sdf>
Added: trunk/src/components/gazeboserver/worlds/jaramaSigueLineas.world
===================================================================
--- trunk/src/components/gazeboserver/worlds/jaramaSigueLineas.world (rev 0)
+++ trunk/src/components/gazeboserver/worlds/jaramaSigueLineas.world 2013-05-09 10:38:13 UTC (rev 914)
@@ -0,0 +1,27 @@
+<?xml version="1.0" ?>
+<sdf version="1.3">
+ <world name="default">
+ <!-- A global light source -->
+ <include>
+ <uri>model://sun</uri>
+ </include>
+
+ <include>
+ <uri>model://ground_plane_sincolor</uri>
+ <pose>0 0 -1 0 0 0</pose>
+ </include>
+
+ <!-- Pioneer2dx model -->
+ <include>
+ <uri>model://pioneer2dxJde</uri>
+ <pose>10 10 0 0 0 0</pose>
+ </include>
+
+ <!-- Pioneer2dx model -->
+ <include>
+ <uri>model://jarama</uri>
+ <pose>10 10 0 0 0 0</pose>
+ </include>
+
+ </world>
+</sdf>
Added: trunk/src/components/gazeboserver/worlds/pioneer2dxJde.world
===================================================================
--- trunk/src/components/gazeboserver/worlds/pioneer2dxJde.world (rev 0)
+++ trunk/src/components/gazeboserver/worlds/pioneer2dxJde.world 2013-05-09 10:38:13 UTC (rev 914)
@@ -0,0 +1,24 @@
+<?xml version="1.0" ?>
+<sdf version="1.3">
+ <world name="default">
+ <!-- Ground -->
+ <include>
+ <uri>model://ground_plane</uri>
+ </include>
+
+ <!-- Pioneer2dx model -->
+ <include>
+ <uri>model://pioneer2dxJde</uri>
+ </include>
+
+ <!-- A global light source -->
+ <include>
+ <uri>model://sun</uri>
+ </include>
+
+ <include>
+ <uri>model://simpleWorld</uri>
+ </include>
+
+ </world>
+</sdf>
Added: trunk/src/components/gazeboserver/worlds/reconstruccion3D.world
===================================================================
--- trunk/src/components/gazeboserver/worlds/reconstruccion3D.world (rev 0)
+++ trunk/src/components/gazeboserver/worlds/reconstruccion3D.world 2013-05-09 10:38:13 UTC (rev 914)
@@ -0,0 +1,100 @@
+<?xml version="1.0"?>
+<sdf version="1.3">
+ <world name="default">
+ <include>
+ <uri>model://ground_plane_sincolor</uri>
+ </include>
+ <include>
+ <uri>model://sun</uri>
+ </include>
+
+ <!-- Pioneer2dx model -->
+ <include>
+ <uri>model://pioneer2dxJde</uri>
+ <pose>0 0 0 0 0 0</pose>
+ </include>
+
+ <!-- Duck -->
+ <include>
+ <uri>model://duck</uri>
+ <pose>4.7 3 0 1.57 0 1.57</pose>
+ </include>
+
+ <!-- Cereales -->
+ <include>
+ <uri>model://cereales</uri>
+ <pose>5.3 2.3 0 0 0 0</pose>
+ </include>
+
+ <!-- Blocks -->
+ <include>
+ <uri>model://blocks</uri>
+ <pose>4.66 -4 0 0 0 1.57</pose>
+ </include>
+
+ <!-- charactersMario -->
+ <include>
+ <uri>model://charactersMario</uri>
+ <pose>4.1 0.5 0 0 0 -1.57</pose>
+ </include>
+
+
+<!--
+
+ <model name="toys">
+ <static>true</static>
+ <link name="body3">
+ <pose>2 2 0 0 0 0</pose>
+ <visual name="visual">
+ <geometry>
+ <mesh><uri>Untitled/models/characters2.dae</uri>
+ <scale>0.01 0.01 0.01</scale></mesh>
+ </geometry>
+ </visual>
+ </link>
+ </model>
+
+ <model name="toys">
+ <static>true</static>
+ <link name="body3">
+ <pose>0 0 0 0 0 0</pose>
+ <visual name="visual">
+ <geometry>
+ <mesh><uri>toysseb/toysseb.dae</uri>
+ <scale>10 10 10</scale></mesh>
+ </geometry>
+ </visual>
+ </link>
+ </model>
+
+ -->
+
+
+ <!--
+ <model name="box">
+ <static>true</static>
+ <link name="body2">
+ <pose>3 -1.4 0 1.57 0 0</pose>
+
+ <collision name='collision'>
+ <geometry>
+ <mesh>
+ <uri>caja/caja.dae</uri>
+ <scale>10 10 10</scale>
+ </mesh>
+ </geometry>
+ </collision>
+
+ <visual name="visual">
+ <geometry>
+ <mesh><uri>caja/caja.dae</uri>
+ <scale>10 10 10</scale></mesh>
+ </geometry>
+ </visual>
+ </link>
+ </model>
+
+ -->
+
+ </world>
+</sdf>
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