/usr/share/gazebo-9/worlds/cafe.world is in gazebo9-common 9.0.0+dfsg5-3ubuntu1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 | <!-- Usage notes are located in this file, look for "Usage"-->
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<gui>
<camera name="user_camera">
<pose>0 -18 8.0 0 0.523 1.5707</pose>
</camera>
</gui>
<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 0.5 -0.9</direction>
</light>
<light name="point_light" type="point">
<pose>0 -0.377195 6.59868 0 -0 0</pose>
<diffuse>0.784314 0.784314 0.784314 1</diffuse>
<specular>0.0980392 0.0980392 0.0980392 1</specular>
<attenuation>
<range>50</range>
<constant>0.8</constant>
<linear>0</linear>
<quadratic>0.001</quadratic>
</attenuation>
<cast_shadows>0</cast_shadows>
<direction>0 0 -1</direction>
</light>
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://cafe</uri>
</include>
<include>
<name>table1</name>
<pose>0.5 -1.6 0.2 0 0 0</pose>
<uri>model://cafe_table</uri>
</include>
<include>
<name>table2</name>
<pose>2.4 -5.5 0.2 0 0 0</pose>
<uri>model://cafe_table</uri>
</include>
<include>
<name>table3</name>
<pose>-1.5 -5.5 0.2 0 0 0</pose>
<uri>model://cafe_table</uri>
</include>
<include>
<name>table4</name>
<pose>2.4 -9 0.2 0 0 0</pose>
<uri>model://cafe_table</uri>
</include>
<include>
<name>table5</name>
<pose>-1.5 -9 0.2 0 0 0</pose>
<uri>model://cafe_table</uri>
</include>
<!-- Usage: modify the <pose> elements of each actor to change their
starting location. Modify the <target> elements of each actor to
change their destination. The <target_weight> can be used to
tune the vector field used by the ActorPlugin to control the Actor. -->
<actor name="actor1">
<pose>0 1 1.25 0 0 0</pose>
<skin>
<filename>walk.dae</filename>
<scale>1.0</scale>
</skin>
<animation name="walking">
<filename>walk.dae</filename>
<scale>1.000000</scale>
<interpolate_x>true</interpolate_x>
</animation>
<plugin name="actor1_plugin" filename="libActorPlugin.so">
<target>0 -5 1.2138</target>
<target_weight>1.15</target_weight>
<obstacle_weight>1.8</obstacle_weight>
<animation_factor>5.1</animation_factor>
<!-- Usage: Modify the set of models that the vector field should
ignore when moving the actor -->
<ignore_obstacles>
<model>cafe</model>
<model>ground_plane</model>
</ignore_obstacles>
</plugin>
</actor>
<actor name="actor2">
<pose>-2 -2 1.25 0 0 0</pose>
<skin>
<filename>walk.dae</filename>
<scale>1.0</scale>
</skin>
<animation name="walking">
<filename>walk.dae</filename>
<scale>1.000000</scale>
<interpolate_x>true</interpolate_x>
</animation>
<plugin name="actor2_plugin" filename="libActorPlugin.so">
<target>3 2 1.24</target>
<target_weight>1.15</target_weight>
<obstacle_weight>1.8</obstacle_weight>
<animation_factor>5.1</animation_factor>
<ignore_obstacles>
<model>cafe</model>
<model>ground_plane</model>
</ignore_obstacles>
</plugin>
</actor>
</world>
</sdf>
|