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iche033/reflectance_test.world

Created May 23, 2020 23:57
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reflectance_test.world
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="world_1">
<scene>
<ambient>0.5 0.5 0.5 1.0</ambient>
<background>0.5 0.5 0.5 1.0</background>
<shadows>true</shadows>
</scene>
<physics type="ode">
<gravity>0.0 0.0 0.0</gravity>
<ode>
<solver>
<type>quick</type>
<dt>0.001</dt>
<iters>20</iters>
<sor>1.3</sor>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100.0</contact_max_correcting_vel>
<contact_surface_layer>0.0</contact_surface_layer>
</constraints>
</ode>
<max_contacts>250</max_contacts>
</physics>
<model name="box0">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box1">
<static>true</static>
<pose>1 0.0 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>suv.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box2">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box3">
<static>true</static>
<pose>1 0.0 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>suv.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box4">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box5">
<static>true</static>
<pose>1 0.0 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>suv.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box6">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box7">
<static>true</static>
<pose>1 0.0 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>suv.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box8">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box9">
<static>true</static>
<pose>1 0.0 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>suv.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box10">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box11">
<static>true</static>
<pose>1 0.0 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>suv.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box12">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box13">
<static>true</static>
<pose>1 0.0 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>suv.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box14">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box15">
<static>true</static>
<pose>1 0.0 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>suv.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box16">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box17">
<static>true</static>
<pose>1 0.0 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>suv.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box18">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box19">
<static>true</static>
<pose>1 0.0 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>suv.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box20">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box21">
<static>true</static>
<pose>1 0.0 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>suv.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box22">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box23">
<static>true</static>
<pose>1 0.0 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>suv.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box24">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box25">
<static>true</static>
<pose>1 0.0 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>suv.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box26">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box27">
<static>true</static>
<pose>1 0.0 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>suv.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box28">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box29">
<static>true</static>
<pose>1 0.0 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>suv.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box30">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box31">
<static>true</static>
<pose>1 0.0 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>suv.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box32">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box33">
<static>true</static>
<pose>1 0.0 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>suv.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
</collision>
</link>
</model>
<model name="box34">
<static>true</static>
<pose>1 0.3 0.1 0 0 0</pose>
<link name="box_link">
<visual name="visual">
<geometry>
<box>
<size>.2 .2 .2</size>
</box>
</geometry>
<plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
<reflectance_map>
<uri>model://suv/materials/textures/</uri>
<name>wheels_01.png</name>
</reflectance_map>
</plugin>
</visual>
<collision name="visual">
<geometry>
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</clip>
<depth_camera>
<output>depth;normals;reflectance</output>
</depth_camera>
</camera>
<plugin name="plugin_3" filename="libgazebo_ros_depth_camera.so">
<alwaysOn>1</alwaysOn>
<updateRate>10.0</updateRate>
<imageTopicName>image_raw</imageTopicName>
<pointCloudTopicName>points</pointCloudTopicName>
<normalsTopicName>normals</normalsTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<cameraName>depth_cam3</cameraName>
<frameName>/base_link</frameName>
<reduceNormals>50</reduceNormals>
<pointCloudCutoff>0.001</pointCloudCutoff>
<distortionK1>0.00000001</distortionK1>
<distortionK2>0.00000001</distortionK2>
<distortionK3>0.00000001</distortionK3>
<distortionT1>0.00000001</distortionT1>
<distortionT2>0.00000001</distortionT2>
</plugin>
<always_on>true</always_on>
<update_rate>30.0</update_rate>
</sensor>
<gravity>false</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
</model>
<light type="directional" name="light_1">
<pose>0.0 0.0 10.0 0.0 0.0 0.0</pose>
<diffuse>0.5 0.5 0.5 0.5</diffuse>
<attenuation>
<range>1000.0</range>
<constant>0.01</constant>
<quadratic>0.0001</quadratic>
</attenuation>
<direction>0.3 0 -1</direction>
<cast_shadows>true</cast_shadows>
</light>
</world>
</sdf>
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