75 lines
1.6 KiB
Plaintext
75 lines
1.6 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.3">
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<world name="default">
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<!-- A global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<!-- A ground plane -->
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<!-- Hammer -->
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<include>
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<name>active_hammer</name>
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<uri>model://hammer</uri>
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<pose>0 -8 2 0 0 0</pose>
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<static>false</static>
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</include>
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<!-- Static hammer -->
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<include>
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<name>static_hammer</name>
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<uri>model://hammer</uri>
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<pose>4 -8 2 0 0 0</pose>
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<static>true</static>
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</include>
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<!-- Cordless drill -->
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<include>
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<name>active_drill</name>
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<uri>model://cordless_drill</uri>
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<pose>0 -4 2 0 0 0</pose>
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<static>false</static>
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</include>
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<!-- Static cordless drill -->
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<include>
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<name>static_drill</name>
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<uri>model://cordless_drill</uri>
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<pose>4 -4 2 0 0 0</pose>
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<static>true</static>
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</include>
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<!-- Double pendulum -->
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<include>
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<name>active_pendulum</name>
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<uri>model://double_pendulum_with_base</uri>
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</include>
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<!-- Static double pendulum -->
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<include>
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<name>static_pendulum</name>
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<uri>model://double_pendulum_with_base</uri>
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<pose>4 0 0 0 0 0</pose>
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<static>true</static>
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</include>
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<!-- PR2 -->
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<include>
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<name>active_pr2</name>
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<uri>model://pr2</uri>
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<pose>0 8 0 0 0 0</pose>
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</include>
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<!-- Static PR2 -->
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<include>
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<uri>model://pr2</uri>
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<pose>4 8 0 0 0 0</pose>
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<static>true</static>
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</include>
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</world>
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</sdf>
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