150 lines
3.3 KiB
Plaintext
150 lines
3.3 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<world name="default">
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<scene>
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<ambient>1.0 1.0 1.0 1.0</ambient>
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<grid>0</grid>
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<origin_visual>0</origin_visual>
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</scene>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<plugin name="ssao" filename="libAmbientOcclusionVisualPlugin.so"/>
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</visual>
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</link>
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</model>
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<model name="box">
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<pose>0 0 0.5 0 0 0.785</pose>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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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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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</visual>
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</link>
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</model>
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<model name="top">
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<pose>0 0 5 0 0 0</pose>
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>5 5 0.2</size>
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</box>
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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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<box>
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<size>5 5 0.2</size>
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</box>
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</geometry>
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</visual>
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</link>
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</model>
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<model name="left">
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<pose>0 -2.4 2.45 0 0 0</pose>
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>5 0.2 4.9</size>
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</box>
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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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<box>
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<size>5 0.2 4.9</size>
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</box>
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</geometry>
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</visual>
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</link>
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</model>
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<model name="right">
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<pose>0 2.4 2.45 0 0 0</pose>
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>5 0.2 4.9</size>
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</box>
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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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<box>
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<size>5 0.2 4.9</size>
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</box>
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</geometry>
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</visual>
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</link>
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</model>
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<model name="back">
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<pose>-2.4 0 2.45 0 0 0</pose>
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>0.2 4.8 4.9</size>
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</box>
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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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<box>
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<size>0.2 4.8 4.9</size>
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</box>
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</geometry>
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</visual>
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</link>
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</model>
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</world>
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</sdf>
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