152 lines
4.3 KiB
Plaintext
152 lines
4.3 KiB
Plaintext
<sdf version='1.6'>
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<world name='default'>
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<light name='sun' type='directional'>
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<cast_shadows>1</cast_shadows>
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<pose frame=''>0 0 10 0 -0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.1 0.1 0.1 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.5 -1</direction>
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</light>
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<model name='box'>
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<pose frame=''>1.61196 -2.08957 0.5 0 -0 0</pose>
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<link name='link'>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.166667</iyy>
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<iyz>0</iyz>
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<izz>0.166667</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<box>
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<size>1 0.999999 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 0.999999 1</size>
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</box>
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</geometry>
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</visual>
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<gravity>0</gravity>
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</link>
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</model>
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<model name='sphere'>
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<pose frame=''>2.17152 1.84984 0.5 0 -0 0</pose>
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<link name='link'>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.1</iyy>
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<iyz>0</iyz>
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<izz>0.1</izz>
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</inertia>
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</inertial>
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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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<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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<gravity>0</gravity>
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</link>
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</model>
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<model name='cylinder'>
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<pose frame=''>-1.70923 -3.91252 0.5 0 -0 0</pose>
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<link name='link'>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.145833</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.145833</iyy>
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<iyz>0</iyz>
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<izz>0.125</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<cylinder>
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<radius>0.499999</radius>
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<length>1</length>
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</cylinder>
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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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<cylinder>
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<radius>0.499999</radius>
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<length>1</length>
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</cylinder>
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</geometry>
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</visual>
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<gravity>0</gravity>
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</link>
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</model>
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<state world_name='default'>
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<sim_time>12 964000000</sim_time>
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<real_time>13 6842744</real_time>
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<wall_time>1452197074 906380472</wall_time>
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<iterations>12964</iterations>
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<model name='box'>
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<pose frame=''>1.61196 -2.08959 0.499859 9.8e-05 -0 0</pose>
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<scale>3.34637 2.87999 0.123722</scale>
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<link name='link'>
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<pose frame=''>1.61196 -2.08959 0.499859 9.8e-05 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>1e-06 -9.8 0 -1.28813 8e-06 -0</acceleration>
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<wrench>1e-06 -9.8 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='cylinder'>
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<pose frame=''>-1.70923 -3.91252 0.5 0 -0 0</pose>
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<scale>2.2969 2.2969 2.09564</scale>
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<link name='link'>
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<pose frame=''>-1.70923 -3.91252 0.5 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<model name='sphere'>
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<pose frame=''>2.17152 1.84984 0.5 0 -0 0</pose>
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<scale>0.402674 0.402674 0.402674</scale>
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<link name='link'>
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<pose frame=''>2.17152 1.84984 0.5 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<light name='sun'>
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<pose frame=''>0 0 10 0 -0 0</pose>
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</light>
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</state>
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</world>
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</sdf>
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