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andreasBihlmaier/camera_shadows_problem.xml

Created March 27, 2014 08:33
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camera_shadows_problem.xml
<sdf version='1.4'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose>0 0 10 0 -0 0</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>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
<bounce/>
<contact>
<ode/>
</contact>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<physics type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
<gravity>0 0 -9.8</gravity>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='camera'>
<link name='link'>
<pose>0.05 0.05 0.05 0 -0 0</pose>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name='camera' type='camera'>
<camera name='__default__'>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>1</visualize>
<plugin name='camera_ros_controller' filename='libgazebo_ros_camera.so'>
<alwaysOn>true</alwaysOn>
<cameraName>camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
</plugin>
</sensor>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>1 -3 0 0 -0 0</pose>
<static>0</static>
</model>
<model name='double_pendulum_with_base'>
<link name='base'>
<inertial>
<mass>100</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<visual name='vis_plate_on_ground'>
<pose>0 0 0.01 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.8</radius>
<length>0.02</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<visual name='vis_pole'>
<pose>-0.275 0 1.1 0 -0 0</pose>
<geometry>
<box>
<size>0.2 0.2 2.2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<collision name='col_plate_on_ground'>
<pose>0 0 0.01 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.8</radius>
<length>0.02</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='col_pole'>
<pose>-0.275 0 1.1 0 -0 0</pose>
<geometry>
<box>
<size>0.2 0.2 2.2</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='upper_link'>
<pose>0 0 2.1 -1.5708 0 0</pose>
<self_collide>0</self_collide>
<inertial>
<pose>0 0 0.5 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<visual name='vis_upper_joint'>
<pose>-0.05 0 0 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.3</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<visual name='vis_lower_joint'>
<pose>0 0 1 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.2</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<visual name='vis_cylinder'>
<pose>0 0 0.5 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.9</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<collision name='col_upper_joint'>
<pose>-0.05 0 0 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.3</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='col_lower_joint'>
<pose>0 0 1 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.2</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='col_cylinder'>
<pose>0 0 0.5 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.9</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='lower_link'>
<pose>0.25 1 2.1 -2 0 0</pose>
<self_collide>0</self_collide>
<inertial>
<pose>0 0 0.5 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<visual name='vis_lower_joint'>
<pose>0 0 0 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<radius>0.08</radius>
<length>0.3</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<visual name='vis_cylinder'>
<pose>0 0 0.5 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.9</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<collision name='col_lower_joint'>
<pose>0 0 0 3.14159 1.57079 3.14159</pose>
<geometry>
<cylinder>
<radius>0.08</radius>
<length>0.3</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='col_cylinder'>
<pose>0 0 0.5 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.9</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<joint name='upper_joint' type='revolute'>
<parent>base</parent>
<child>upper_link</child>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
</axis>
</joint>
<joint name='lower_joint' type='revolute'>
<parent>upper_link</parent>
<child>lower_link</child>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
</axis>
</joint>
<pose>7 -2.55693 0 0 -0 0</pose>
<static>0</static>
</model>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>0.36246 -7.29419 1.58016 0 0.187643 1.03219</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
</world>
</sdf>
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