44 lines
1.0 KiB
Plaintext
44 lines
1.0 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.4">
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<world name="default">
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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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<!-- 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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<!-- Load the plugin for Razer Hydra -->
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<plugin name="hydra" filename="libHydraPlugin.so"></plugin>
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<!-- A sphere controlled by Hydra-->
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<model name="sphere">
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<pose>0 0 0 0 0 0</pose>
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<link name="link">
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<collision name="collision">
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<geometry>
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<sphere>
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<radius>0.5</radius>
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</sphere>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<sphere>
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<radius>0.5</radius>
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</sphere>
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</geometry>
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</visual>
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</link>
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<!-- Load a plugin to control the sphere with Hydra -->
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<plugin name='sphere_ctroller' filename='libHydraDemoPlugin.so'></plugin>
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</model>
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</world>
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</sdf>
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