93 lines
2.2 KiB
XML
93 lines
2.2 KiB
XML
<?xml version="1.0" ?>
|
|
<sdf version="1.5">
|
|
<world name="default">
|
|
<!-- A ground plane -->
|
|
<include>
|
|
<uri>model://ground_plane</uri>
|
|
</include>
|
|
<!-- A global light source -->
|
|
<include>
|
|
<uri>model://sun</uri>
|
|
</include>
|
|
<plugin filename="libTriggerPlugin.so" name="trigger">
|
|
<point>0 0 0</point>
|
|
<radius>5</radius>
|
|
</plugin>
|
|
<model name="sphere">
|
|
<pose>0 0 10.0 0 0 0</pose>
|
|
<link name="link">
|
|
<inertial>
|
|
<mass>1</mass>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<material>
|
|
<script>Gazebo/Grey</script>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
<model name="box">
|
|
<pose>1 0 50.0 0 0 0</pose>
|
|
<link name="link">
|
|
<inertial>
|
|
<mass>1</mass>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.1</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<material>
|
|
<script>Gazebo/Grey</script>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
<model name="cylinder">
|
|
<pose>5 0 50.0 0 0 0</pose>
|
|
<link name="link">
|
|
<inertial>
|
|
<mass>1</mass>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.2</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.2</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<material>
|
|
<script>Gazebo/Grey</script>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
</world>
|
|
</sdf>
|