603 lines
15 KiB
Plaintext
603 lines
15 KiB
Plaintext
|
<?xml version="1.0" ?>
|
||
|
|
<sdf version="1.5">
|
||
|
|
<world name="default">
|
||
|
|
<scene>
|
||
|
|
<ambient>0.1 0.1 0.1 1</ambient>
|
||
|
|
<background>1 1 1 1</background>
|
||
|
|
<shadows>false</shadows>
|
||
|
|
<grid>false</grid>
|
||
|
|
</scene>
|
||
|
|
<!--<gui fullscreen="true">
|
||
|
|
<camera name="user_camera">
|
||
|
|
<view_controller type="orbit"/>
|
||
|
|
<pose pose="0 0 5 0 -1.5707 0"/>
|
||
|
|
</camera>
|
||
|
|
</gui>
|
||
|
|
-->
|
||
|
|
<physics type="ode">
|
||
|
|
<gravity>0 0 -9.8</gravity>
|
||
|
|
<ode>
|
||
|
|
<solver>
|
||
|
|
<type>quick</type>
|
||
|
|
<iters>10</iters>
|
||
|
|
<sor>1.3</sor>
|
||
|
|
</solver>
|
||
|
|
<constraints>
|
||
|
|
<cfm>0.0</cfm>
|
||
|
|
<erp>0.2</erp>
|
||
|
|
<contact_max_correcting_vel>100.0</contact_max_correcting_vel>
|
||
|
|
<contact_surface_layer>0.001</contact_surface_layer>
|
||
|
|
</constraints>
|
||
|
|
</ode>
|
||
|
|
<max_step_size>0.001</max_step_size>
|
||
|
|
</physics>
|
||
|
|
<!-- Ground Plane -->
|
||
|
|
<model name="plane1_model">
|
||
|
|
<link name="body">
|
||
|
|
<collision name="geom_1">
|
||
|
|
<geometry>
|
||
|
|
<plane>
|
||
|
|
<normal>0 0 1</normal>
|
||
|
|
</plane>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual_1">
|
||
|
|
<geometry>
|
||
|
|
<plane>
|
||
|
|
<normal>0 0 1</normal>
|
||
|
|
</plane>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>Gazebo/Grey</script>
|
||
|
|
</material>
|
||
|
|
<cast_shadows>false</cast_shadows>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<static>true</static>
|
||
|
|
</model>
|
||
|
|
<model name="slide1">
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 0.1 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>1</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>1</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="c">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>3 4 0.2</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="v">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>3 4 0.2</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>nate/slide1</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<static>true</static>
|
||
|
|
</model>
|
||
|
|
<model name="slide2">
|
||
|
|
<pose>1 0 0.201 0 0 0</pose>
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 0.0005 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>1</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>1</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="c">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="v">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>nate/slide2</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<static>true</static>
|
||
|
|
</model>
|
||
|
|
<model name="slide3">
|
||
|
|
<pose>0.95 -0.05 0.201 0 0 -1.5707</pose>
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 0.0005 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>1</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>1</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="c">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="v">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>nate/slide3</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<static>true</static>
|
||
|
|
</model>
|
||
|
|
<model name="slide4">
|
||
|
|
<pose>0.95 -0.07 0.201 0 0 -1.5707</pose>
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 0.0005 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>1</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>1</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="c">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="v">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>nate/slide4</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<static>true</static>
|
||
|
|
</model>
|
||
|
|
<model name="slide5">
|
||
|
|
<pose>0.95 -0.09 0.201 0 0 -1.5707</pose>
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 0.0005 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>1</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>1</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="c">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="v">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>nate/slide5</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<static>true</static>
|
||
|
|
</model>
|
||
|
|
<model name="slide6">
|
||
|
|
<pose>0.95 -0.11 0.201 0 0 -1.5707</pose>
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 0.0005 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>1</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>1</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="c">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="v">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>nate/slide6</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<static>true</static>
|
||
|
|
</model>
|
||
|
|
<model name="slide7">
|
||
|
|
<pose>0.91 -0.11 0.2011 0 0 -1.5707</pose>
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 0.0005 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>1</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>1</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="c">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="v">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>nate/slide7</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<static>true</static>
|
||
|
|
</model>
|
||
|
|
<model name="slide8">
|
||
|
|
<pose>10 10 0 0 0 0</pose>
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 0.0005 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>1</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>1</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="c">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>3 4 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="v">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>3 4 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>nate/slide8</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<static>true</static>
|
||
|
|
</model>
|
||
|
|
<model name="slide9">
|
||
|
|
<pose>10.2 9.78 0.005 0 0 0</pose>
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 0.0005 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>1</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>1</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="c">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="v">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>nate/slide9</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<static>true</static>
|
||
|
|
</model>
|
||
|
|
<model name="slide10">
|
||
|
|
<pose>10.20 9.74 0.005 0 0 0</pose>
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 0.0005 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>1</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>1</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="c">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="v">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>nate/slide10</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<static>true</static>
|
||
|
|
</model>
|
||
|
|
<model name="slide11">
|
||
|
|
<pose>9.93 9.07 0.005 0 0 0</pose>
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 0.0005 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>1</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>1</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="c">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="v">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>nate/slide11</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<static>true</static>
|
||
|
|
</model>
|
||
|
|
<model name="slide12">
|
||
|
|
<pose>9.69 8.21 0.005 0 0 0</pose>
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 0.0005 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>1</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>1</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="c">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="v">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>nate/slide12</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<static>true</static>
|
||
|
|
</model>
|
||
|
|
<model name="slide13">
|
||
|
|
<pose>9.43 8.93 0.005 0 0 0</pose>
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 0.0005 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>1</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>1</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="c">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="v">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>.03 .04 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>nate/slide13</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<static>true</static>
|
||
|
|
</model>
|
||
|
|
<model name="slide14">
|
||
|
|
<pose>7 14 0.005 0 0 1.5707</pose>
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 0.0005 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>1</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>1</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="c">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>3 4 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="v">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>3 4 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>nate/slide14</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<static>true</static>
|
||
|
|
</model>
|
||
|
|
<model name="slide15">
|
||
|
|
<pose>3 10 0.005 0 0 3.1415</pose>
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 0.0005 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>1</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>1</izz>
|
||
|
|
</inertia>
|
||
|
|
<mass>1.0</mass>
|
||
|
|
</inertial>
|
||
|
|
<collision name="c">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>3 4 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="v">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>3 4 0.001</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>nate/slide15</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<static>true</static>
|
||
|
|
</model>
|
||
|
|
<!--
|
||
|
|
<light type="point" name="point_light" cast_shadows="false">
|
||
|
|
<pose pose="-5 -2 5 0 0 0"/>
|
||
|
|
<diffuse rgba=".4 .4 .4 1"/>
|
||
|
|
<specular rgba=".2 .2 .2 1"/>
|
||
|
|
<attenuation range="20" constant="0.9" linear="0.01" quadratic="0.001"/>
|
||
|
|
</light>
|
||
|
|
-->
|
||
|
|
<light type="directional" name="my_light">
|
||
|
|
<pose>0 0 10 0 0 0</pose>
|
||
|
|
<diffuse>.9 .9 .9 1</diffuse>
|
||
|
|
<specular>.1 .1 .1 1</specular>
|
||
|
|
<attenuation>
|
||
|
|
<range>20</range>
|
||
|
|
</attenuation>
|
||
|
|
<direction>0 0 -1</direction>
|
||
|
|
<cast_shadows>false</cast_shadows>
|
||
|
|
</light>
|
||
|
|
</world>
|
||
|
|
</sdf>
|