63 lines
1.6 KiB
Plaintext
63 lines
1.6 KiB
Plaintext
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<?xml version="1.0"?>
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<sdf version='1.6'>
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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://lamp_post</uri>
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<pose frame=''>-3 -3 0 0 0 1.570796</pose>
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</include>
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<include>
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<uri>model://ladder_60deg_0rails</uri>
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<pose>0 0.15396 0.266667 0 -0 0</pose>
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</include>
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<model name='unit_sphere'>
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<pose frame=''>0 1 3 0 0 0</pose>
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<link name='only_link'>
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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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</visual>
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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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</link>
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</model>
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<light name='post_light' type='spot'>
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<attenuation>
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<range>0</range>
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<linear>0.05</linear>
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</attenuation>
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<specular>1 1 1 1</specular>
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<spot>
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<inner_angle>0.5</inner_angle>
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<outer_angle>1</outer_angle>
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<falloff>1</falloff>
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</spot>
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<pose>-0.2 -3 9 0 0 0</pose>
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</light>
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<!-- Launch ContainPlugin -->
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<plugin name='ContainPlugin' filename='libContainPlugin.so'>
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<enabled>true</enabled>
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<entity>unit_sphere::only_link</entity>
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<namespace>~/contain_example</namespace>
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<pose>0 -3 0.5 0 0 0</pose>
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<geometry>
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<box>
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<size>4 4 1</size>
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</box>
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</geometry>
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</plugin>
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<!-- Launch example plugin -->
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<plugin name='AutomaticLight' filename='libTurnOnLightPlugin.so'/>
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</world>
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</sdf>
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