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initial_velocity.sdf example world
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Signed-off-by: Steve Peters <[email protected]>
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@scpeters
scpeters committed Nov 15, 2023
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<?xml version="1.0" ?>
<!--
Gazebo velocity control plugin demo
Try sending commands:
gz topic -t "/model/vehicle_blue/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 0.5}, angular: {z: 0.05}"
gz topic -t "/model/vehicle_green/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 1.0}, angular: {z: -0.1}"
-->
<sdf version="1.11">
<world name="velocity_control">

<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.5 0.5 0.5 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>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name="default_persistent_zero_velocity">
<pose>0 0 1.0 0 0 0</pose>
<link name="box_1x4x9">
<inertial auto="true"/>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.4 0.9</size>
</box>
</geometry>
<material>
<ambient>0.5 0.5 1.0 1</ambient>
<diffuse>0.5 0.5 1.0 1</diffuse>
<specular>0.0 0.0 1.0 1</specular>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.4 0.9</size>
</box>
</geometry>
</collision>
</link>
<plugin
filename="gz-sim-velocity-control-system"
name="gz::sim::systems::VelocityControl">
</plugin>
</model>

<model name="persistent_zero_velocity">
<pose>0 1 1.0 0 0 0</pose>
<link name="box_1x4x9">
<inertial auto="true"/>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.4 0.9</size>
</box>
</geometry>
<material>
<ambient>0.5 0.5 1.0 1</ambient>
<diffuse>0.5 0.5 1.0 1</diffuse>
<specular>0.0 0.0 1.0 1</specular>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.4 0.9</size>
</box>
</geometry>
</collision>
</link>
<plugin
filename="gz-sim-velocity-control-system"
name="gz::sim::systems::VelocityControl">
<initial_angular>0 0 0</initial_angular>
<initial_linear>0 0 0</initial_linear>
</plugin>
</model>

<model name="explicit_persistent_zero_velocity">
<pose>0 2 1.0 0 0 0</pose>
<link name="box_1x4x9">
<inertial auto="true"/>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.4 0.9</size>
</box>
</geometry>
<material>
<ambient>0.5 0.5 1.0 1</ambient>
<diffuse>0.5 0.5 1.0 1</diffuse>
<specular>0.0 0.0 1.0 1</specular>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.4 0.9</size>
</box>
</geometry>
</collision>
</link>
<plugin
filename="gz-sim-velocity-control-system"
name="gz::sim::systems::VelocityControl">
<initial_angular persistent="true">0 0 0</initial_angular>
<initial_linear persistent="true">0 0 0</initial_linear>
</plugin>
</model>

<model name="initial_zero_velocity">
<pose>0 3 1.0 0 0 0</pose>
<link name="box_1x4x9">
<inertial auto="true"/>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.4 0.9</size>
</box>
</geometry>
<material>
<ambient>0.5 0.5 1.0 1</ambient>
<diffuse>0.5 0.5 1.0 1</diffuse>
<specular>0.0 0.0 1.0 1</specular>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.4 0.9</size>
</box>
</geometry>
</collision>
</link>
<plugin
filename="gz-sim-velocity-control-system"
name="gz::sim::systems::VelocityControl">
<initial_angular persistent="false">0 0 0</initial_angular>
<initial_linear persistent="false">0 0 0</initial_linear>
</plugin>
</model>

<model name="initial_nonzero_velocity">
<pose>0 -1 1.0 0 0 0</pose>
<link name="box_1x4x9">
<inertial auto="true"/>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.4 0.9</size>
</box>
</geometry>
<material>
<ambient>0.5 0.5 1.0 1</ambient>
<diffuse>0.5 0.5 1.0 1</diffuse>
<specular>0.0 0.0 1.0 1</specular>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.4 0.9</size>
</box>
</geometry>
</collision>
</link>
<plugin
filename="gz-sim-velocity-control-system"
name="gz::sim::systems::VelocityControl">
<initial_angular persistent="false">0.1 5 0.1</initial_angular>
<initial_linear persistent="false">4 -2 10</initial_linear>
</plugin>
</model>

</world>
</sdf>

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