49 lines
1.2 KiB
XML
49 lines
1.2 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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<include>
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<uri>model://cordless_drill</uri>
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<static>true</static>
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<pose>0 0 1 0 0 0</pose>
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</include>
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<plugin name="containDrill" filename="libContainPlugin.so">
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<entity>drill</entity>
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<namespace>gazebo/default/drill</namespace>
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<pose frame="box::link">0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.5 0.5 0.5</size>
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</box>
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</geometry>
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</plugin>
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<model name="box">
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<static>false</static>
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<pose>0 0 2 0.707 0.707 0.707</pose>
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<link name="link">
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<!-- Box visual for demonstration -->
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<visual name="visual">
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<geometry>
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<box>
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<size>0.5 0.5 0.5</size>
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</box>
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</geometry>
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<material>
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<ambient>0 0 1 0.5</ambient>
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<specular>0 0 1 0.5</specular>
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<diffuse>0 0 1 0.5</diffuse>
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<emissive>0 0 1 0.5</emissive>
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</material>
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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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