48 lines
1.1 KiB
Plaintext
48 lines
1.1 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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<!-- 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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<include>
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<uri>model://simple_arm</uri>
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</include>
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<model name="cylinder">
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<pose>1.0 1.0 0 0 0 0</pose>
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<link name="base">
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<visual name="cylinder_visual">
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.25</length>
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</cylinder>
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</geometry>
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</visual>
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<collision name="cylinder_collision">
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<geometry>
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<cylinder>
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<radius>0.15</radius>
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<length>0.25</length>
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</cylinder>
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</geometry>
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</collision>
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</link>
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</model>
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<include>
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<pose>0.35 0.35 0.5 0 0 0.7071</pose>
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<uri>model://camera</uri>
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</include>
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<include>
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<pose>0.45 0.45 0.3 0 0 0.7071</pose>
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<uri>model://hokuyo</uri>
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</include>
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</world>
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</sdf>
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