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Commit a8210494 authored by Fernando Herrero's avatar Fernando Herrero
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Add mr_lab sim world

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<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.79.0</authoring_tool>
</contributor>
<created>2021-11-30T10:44:14</created>
<modified>2021-11-30T10:44:14</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_cameras>
<camera id="Camera-camera" name="Camera">
<optics>
<technique_common>
<perspective>
<xfov sid="xfov">49.13434</xfov>
<aspect_ratio>1.777778</aspect_ratio>
<znear sid="znear">0.1</znear>
<zfar sid="zfar">100</zfar>
</perspective>
</technique_common>
</optics>
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<technique profile="blender">
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</camera>
</library_cameras>
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<light id="Lamp-light" name="Lamp">
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<point>
<color sid="color">1 1 1</color>
<constant_attenuation>1</constant_attenuation>
<linear_attenuation>0</linear_attenuation>
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</light>
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<library_images/>
<library_geometries>
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<mesh>
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</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Camera" 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
worlds/mr_lab.world 0 → 100644
+ 60
− 0
View file @ a8210494
<?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>
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