68 lines
1.9 KiB
Plaintext
68 lines
1.9 KiB
Plaintext
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<sdf version='1.5'>
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<world name='default'>
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<!-- include sun and ground plane -->
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<include><uri>model://sun</uri></include>
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<include><uri>model://ground_plane</uri></include>
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<model name="sensor_box">
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<static>true</static>
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<link name="link">
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<pose>0 0 0.251 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<box>
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<size>4 4 0.5</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>4 4 0.5</size>
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</box>
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</geometry>
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<material><script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script></material>
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</visual>
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<collision name="collision2">
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<pose>0 0 1 0 0 0</pose>
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<geometry>
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<box>
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<size>4 4 0.5</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual2">
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<pose>0 0 1 0 0 0</pose>
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<geometry>
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<box>
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<size>4 4 0.5</size>
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</box>
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</geometry>
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<material><script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script></material>
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</visual>
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<sensor name="box_contact" type="contact">
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<always_on>true</always_on>
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<update_rate>1000</update_rate>
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<contact>
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<collision>collision</collision>
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</contact>
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</sensor>
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<sensor name="box_contact2" type="contact">
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<always_on>true</always_on>
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<update_rate>1000</update_rate>
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<contact>
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<collision>collision2</collision>
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</contact>
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</sensor>
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</link>
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</model>
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</world>
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</sdf>
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