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world_testRRR.urdf
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<?xml version="1.0" ?>
<world name="demo_world" gravity="0.0 0.0 -9.8">
<robot name="testRRR">
<!-- model node is required -->
<model dir="../resources/test_robot" path="testRRR.urdf" name="testRRR" />
<!-- origin node is optional -->
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
</robot>
<static_object name="Obstacle1">
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<collision>
<origin xyz="0 0.4 0.0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.1" length="0.4"/>
</geometry>
</collision>
<visual>
<origin xyz="0.0 0.4 0.0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.1" length="0.4" />
</geometry>
<material name="material_red">
<color rgba="255 0.0 0.0 1.0" />
</material>
</visual>
</static_object>
<static_object name="Obstacle2">
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<collision>
<origin xyz="0 -0.5 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.1" length="0.56"/>
</geometry>
</collision>
<visual>
<origin xyz="0.0 -0.5 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.1" length="0.56" />
</geometry>
<material name="material_green">
<color rgba="0.0 255.0 0.0 1.0" />
</material>
</visual>
</static_object>
<!-- <light name="light1" type="directional">
<position xyz="2.0 -1.5 2.5" />
<lookat xyz="0.0 -0.3 1.0" />
</light> -->
<light name="light2" type="directional">
<position xyz="1.5 1.5 2.5" />
<lookat xyz="0.0 0.3 1.5" />
</light>
<light name="light3" type="directional">
<position xyz="0.0 0.0 2.0" />
<lookat xyz="0.0 0.0 0.0" />
</light>
<camera name="camera_fixed">
<position xyz="-0.7 -0.8 0.5" />
<vertical xyz="0.0 0.0 1.0" />
<lookat xyz="0.0 0.0 0.5" />
</camera>
<!--<camera name="camera_front">
<position xyz="1.5 0.3 0.6" />
<vertical xyz="0.0 0.0 1.0" />
<lookat xyz="0.0 0.0 0.2" />
</camera>
<camera name="camera_top">
<position xyz="2.0 0.0 2.0" />
<vertical xyz="0.0 0.0 1.0" />
<lookat xyz="0.3 0.0 0.6" />
</camera>-->
<!-- TODO: support stereo specification -->
</world>