90 lines
2.2 KiB
XML
90 lines
2.2 KiB
XML
<?xml version="1.0"?>
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<sdf version="1.6">
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<world name="default">
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<gravity>0 0 0</gravity>
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<include>
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<uri>model://sun</uri>
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</include>
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<model name="post">
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<pose>0 0 1 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>0.2 0.2 2</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>.2 .2 2</size>
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</box>
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</geometry>
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</visual>
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<sensor name="logical_camera" type="logical_camera">
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<pose>0 0 1 0 0 0</pose>
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<logical_camera>
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<near>0.55</near>
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<far>2.5</far>
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<horizontal_fov>1.05</horizontal_fov>
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<aspect_ratio>1.8</aspect_ratio>
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</logical_camera>
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<visualize>true</visualize>
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<always_on>true</always_on>
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<update_rate>1000</update_rate>
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</sensor>
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</link>
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</model>
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<!-- this model has a nested model which is inside of the target -->
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<model name="base_target">
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<pose>1 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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</visual>
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</link>
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<model name="nested_target">
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<pose>0 0 1 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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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Purple</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</model>
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</world>
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</sdf>
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