68 lines
1.6 KiB
Plaintext
68 lines
1.6 KiB
Plaintext
|
<?xml version="1.0" ?>
|
||
|
|
<sdf version="1.6">
|
||
|
|
<world name="default">
|
||
|
|
<include>
|
||
|
|
<uri>model://ground_plane</uri>
|
||
|
|
</include>
|
||
|
|
<include>
|
||
|
|
<uri>model://sun</uri>
|
||
|
|
</include>
|
||
|
|
|
||
|
|
<model name="box_no_normal">
|
||
|
|
<pose>0.0 0 0.5 0 0 0</pose>
|
||
|
|
<link name="link">
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1 1 1</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1 1 1</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name="box_dirt_normal">
|
||
|
|
<pose>3.0 0 0.5 0 0 0</pose>
|
||
|
|
<link name="link">
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1 1 1</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>1 1 1</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/Red</name>
|
||
|
|
</script>
|
||
|
|
<shader type="normal_map_tangent_space">
|
||
|
|
<normal_map>dirt_normal.png</normal_map>
|
||
|
|
</shader>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
</world>
|
||
|
|
</sdf>
|