502 lines
12 KiB
Plaintext
502 lines
12 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<include>
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<uri>model://sun</uri>
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</include>
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<model name="box_1">
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<pose>0 0 .5 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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<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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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="box_2">
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<pose>0 0 1.5 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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<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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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="box_3">
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<pose>0 0 2.5 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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<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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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="box_4">
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<pose>0 0 3.5 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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<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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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="box_5">
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<pose>0 0 4.5 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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<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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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="sphere_1">
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<pose>0 1.5 0.5 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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<surface>
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<contact>
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<ode>
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<soft_erp>1.0</soft_erp>
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<max_vel>0</max_vel>
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</ode>
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</contact>
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</surface>
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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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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="sphere_2">
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<pose>0 1.5 1.5 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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<surface>
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<contact>
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<ode>
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<soft_erp>1.0</soft_erp>
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<max_vel>0</max_vel>
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</ode>
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</contact>
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</surface>
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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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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="sphere_3">
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<pose>0 1.5 2.5 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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<surface>
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<contact>
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<ode>
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<soft_erp>1.0</soft_erp>
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<max_vel>0</max_vel>
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</ode>
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</contact>
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</surface>
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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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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="sphere_4">
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<pose>0 1.5 3.5 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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<surface>
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<contact>
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<ode>
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<soft_erp>1.0</soft_erp>
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<max_vel>0</max_vel>
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</ode>
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</contact>
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</surface>
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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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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="sphere_5">
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<pose>0 1.5 4.5 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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<surface>
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<contact>
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<ode>
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<soft_erp>1.0</soft_erp>
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<max_vel>0</max_vel>
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</ode>
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</contact>
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</surface>
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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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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="sphere_1a">
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<pose>1.5 1.5 0.5 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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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="sphere_2a">
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<pose>1.5 1.5 1.5 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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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="sphere_3a">
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<pose>1.5 1.5 2.5 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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<material>
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||
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<script>Gazebo/WoodPallet</script>
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||
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</material>
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||
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</visual>
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</link>
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</model>
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<model name="sphere_4a">
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||
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<pose>1.5 1.5 3.5 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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<material>
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<script>Gazebo/WoodPallet</script>
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</material>
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</visual>
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</link>
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</model>
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||
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<model name="sphere_5a">
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||
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<pose>1.5 1.5 4.5 0 0 0</pose>
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||
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|
<link name="link">
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||
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<collision name="collision">
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||
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<geometry>
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||
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<sphere>
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||
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<radius>0.5</radius>
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||
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</sphere>
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||
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</geometry>
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||
|
|
</collision>
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|
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<visual name="visual">
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<geometry>
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||
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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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||
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<material>
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||
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<script>Gazebo/WoodPallet</script>
|
||
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|
</material>
|
||
|
|
</visual>
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|
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</link>
|
||
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</model>
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||
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<model name="cylinder_1">
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||
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<pose>0 -1.5 0.5 0 0 0</pose>
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||
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|
<link name="link">
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||
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|
<collision name="collision">
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||
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|
<geometry>
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||
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|
<cylinder>
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||
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<radius>0.1</radius>
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||
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<length>1.0</length>
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</cylinder>
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||
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</geometry>
|
||
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</collision>
|
||
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<visual name="visual">
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||
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|
<geometry>
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||
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<cylinder>
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||
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<radius>0.1</radius>
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<length>1.0</length>
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</cylinder>
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||
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</geometry>
|
||
|
|
<material>
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||
|
|
<script>Gazebo/WoodPallet</script>
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||
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</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
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<model name="cylinder_2">
|
||
|
|
<pose>0 -1.5 1.5 0 0 0</pose>
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||
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|
<link name="link">
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||
|
|
<collision name="collision">
|
||
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|
<geometry>
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||
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<cylinder>
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||
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<radius>0.1</radius>
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||
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<length>1.0</length>
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||
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</cylinder>
|
||
|
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</geometry>
|
||
|
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</collision>
|
||
|
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<visual name="visual">
|
||
|
|
<geometry>
|
||
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<cylinder>
|
||
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<radius>0.1</radius>
|
||
|
|
<length>1.0</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>Gazebo/WoodPallet</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
<model name="cylinder_3">
|
||
|
|
<pose>0 -1.5 2.5 0 0 0</pose>
|
||
|
|
<link name="link">
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.1</radius>
|
||
|
|
<length>1.0</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.1</radius>
|
||
|
|
<length>1.0</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>Gazebo/WoodPallet</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
<model name="cylinder_4">
|
||
|
|
<pose>0 -1.5 3.5 0 0 0</pose>
|
||
|
|
<link name="link">
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.1</radius>
|
||
|
|
<length>1.0</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.1</radius>
|
||
|
|
<length>1.0</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>Gazebo/WoodPallet</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
<model name="cylinder_5">
|
||
|
|
<pose>0 -1.5 4.5 0 0 0</pose>
|
||
|
|
<link name="link">
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.1</radius>
|
||
|
|
<length>1.0</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.1</radius>
|
||
|
|
<length>1.0</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>Gazebo/WoodPallet</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
</world>
|
||
|
|
</sdf>
|