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name="Camera" type="NODE"> + <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix> + <instance_camera url="#Camera-camera"/> + </node> + <node id="Lamp" name="Lamp" type="NODE"> + <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix> + <instance_light url="#Lamp-light"/> + </node> + <node id="Plane" name="Plane" type="NODE"> + <matrix sid="transform">-0.09999999 3.25841e-8 0 1.311704 -3.25841e-8 -0.09999999 0 -0.1500731 0 0 0.09999999 -0.1049638 0 0 0 1</matrix> + <instance_geometry url="#Plane_001-mesh" name="Plane"/> + </node> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#Scene"/> + </scene> +</COLLADA> \ No newline at end of file diff --git a/worlds/mr_lab.world b/worlds/mr_lab.world new file mode 100644 index 0000000000000000000000000000000000000000..68f4c7b0075883af32f9d47248b4a2eead79b807 --- /dev/null +++ b/worlds/mr_lab.world @@ -0,0 +1,60 @@ +<?xml version="1.0" ?> +<sdf version="1.4"> + <world name="mr_lab"> + <!-- + <include> + <uri>model://sun</uri> + </include> + --> + + <light type="directional" name="sun"> + <cast_shadows>true</cast_shadows> + <pose>0 0 10 0.2 0.2 0.2</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> + + <include> + <uri>model://ground_plane</uri> + </include> + + <model name="mr_lab"> + <static>true</static> + <link name="link"> + <pose>0 0 0 0 0 0</pose> + <collision name="collision"> + <geometry> + <mesh> + <uri>model://meshes/mr_lab.dae</uri> + <scale>1 1 1</scale> + </mesh> + </geometry> + </collision> + <visual name="visual"> + <geometry> + <mesh> + <uri>model://meshes/mr_lab.dae</uri> + <scale>1 1 1</scale> + </mesh> + </geometry> + </visual> + </link> + </model> + +<gui fullscreen='0'> + <camera name='user_camera'> + <pose frame=''>10.0958 -9.41664 10.969 0 0.667643 2.2282</pose> + <view_controller>orbit</view_controller> + <projection_type>perspective</projection_type> + </camera> + </gui> + + </world> +</sdf>