61 lines
1.3 KiB
Plaintext
61 lines
1.3 KiB
Plaintext
|
<?xml version="1.0" ?>
|
||
|
|
<sdf version="1.5">
|
||
|
|
<world name="default">
|
||
|
|
<include>
|
||
|
|
<uri>model://ground_plane</uri>
|
||
|
|
</include>
|
||
|
|
|
||
|
|
<scene>
|
||
|
|
<shadows>false</shadows>
|
||
|
|
<ambient>1 1 1 1</ambient>
|
||
|
|
</scene>
|
||
|
|
|
||
|
|
<physics type="ode">
|
||
|
|
<ode>
|
||
|
|
<solver>
|
||
|
|
<type>world</type>
|
||
|
|
</solver>
|
||
|
|
</ode>
|
||
|
|
<max_step_size>0.1</max_step_size>
|
||
|
|
<real_time_update_rate>0</real_time_update_rate>
|
||
|
|
</physics>
|
||
|
|
|
||
|
|
<% for i in 0..1001 %>
|
||
|
|
<model name="box_<%=i%>">
|
||
|
|
<pose><%=i*0.4%> 0 0.05 0 0 0</pose>
|
||
|
|
<link name="link">
|
||
|
|
<kinematic>true</kinematic>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 .1 .1</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.2 .1 .1</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<visual name="visual_front">
|
||
|
|
<pose>0.07 0 0.04 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>.04</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
<% end %>
|
||
|
|
</world>
|
||
|
|
</sdf>
|
||
|
|
|