163 lines
4.4 KiB
XML
163 lines
4.4 KiB
XML
<?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_sim">
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<pose>0 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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<plugin name="blink" filename="libBlinkVisualPlugin.so">
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<color_a>1 0 0 1</color_a>
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<color_b>1 0 0 0</color_b>
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<period>10</period>
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</plugin>
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</visual>
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</link>
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</model>
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<model name="sphere_sim">
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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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</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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<plugin name="blink" filename="libBlinkVisualPlugin.so">
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<color_a>0 1 1 1</color_a>
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<color_b>0 1 0 1</color_b>
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<period>2</period>
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</plugin>
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</visual>
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</link>
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</model>
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<model name="cylinder_sim">
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<pose>0 -1.5 0.5 0 1.5707 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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<cylinder>
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<radius>0.5</radius>
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<length>1.0</length>
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</cylinder>
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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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<cylinder>
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<radius>0.5</radius>
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<length>1.0</length>
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</cylinder>
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</geometry>
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<plugin name="blink" filename="libBlinkVisualPlugin.so">
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<color_a>0 0 1 1</color_a>
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<color_b>1 1 1 1</color_b>
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<period>0.4</period>
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</plugin>
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</visual>
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</link>
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</model>
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<model name="box_wall">
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<pose>2 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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<plugin name="blink" filename="libBlinkVisualPlugin.so">
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<color_a>1 0 0 1</color_a>
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<color_b>1 0 0 0</color_b>
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<period>10</period>
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<use_wall_time>true</use_wall_time>
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</plugin>
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</visual>
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</link>
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</model>
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<model name="sphere_wall">
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<pose>2 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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<plugin name="blink" filename="libBlinkVisualPlugin.so">
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<color_a>0 1 1 1</color_a>
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<color_b>0 1 0 1</color_b>
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<period>2</period>
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<use_wall_time>true</use_wall_time>
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</plugin>
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</visual>
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</link>
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</model>
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<model name="cylinder_wall">
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<pose>2 -1.5 0.5 0 1.5707 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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<cylinder>
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<radius>0.5</radius>
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<length>1.0</length>
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</cylinder>
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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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<cylinder>
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<radius>0.5</radius>
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<length>1.0</length>
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</cylinder>
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</geometry>
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<plugin name="blink" filename="libBlinkVisualPlugin.so">
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<color_a>0 0 1 1</color_a>
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<color_b>1 1 1 1</color_b>
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<period>0.4</period>
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<use_wall_time>true</use_wall_time>
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</plugin>
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</visual>
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</link>
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</model>
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</world>
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</sdf>
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