87 lines
1.9 KiB
XML
87 lines
1.9 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<scene>
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<ambient>1 1 1 1</ambient>
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<background>0 0 0 0</background>
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<grid>false</grid>
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<origin_visual>false</origin_visual>
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</scene>
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<gui>
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<camera name="user_camera">
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<pose>0 0 1.2 0 1.5707 0</pose>
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</camera>
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</gui>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>10 10</size>
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</plane>
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</geometry>
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</collision>
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</link>
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</model>
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<model name="box">
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<pose>10 10 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>10 10 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>10 10 1</size>
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</box>
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</geometry>
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<material>
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<script>Gazebo/White</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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<plugin filename="libTransporterPlugin.so" name="transporter">
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<activation_topic>~/transporter</activation_topic>
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<pad name="pad1">
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<destination>pad2</destination>
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<activation>auto</activation>
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<outgoing>
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<min>100 -0.5 0</min>
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<max>101 0.5 1</max>
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</outgoing>
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<incoming>
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<pose>0 0 0.5 0 0 0</pose>
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</incoming>
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</pad>
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<pad name="pad2">
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<destination>pad1</destination>
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<activation>manual</activation>
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<outgoing>
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<min>-101 -0.5 0</min>
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<max>-100 0.5 1</max>
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</outgoing>
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<incoming>
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<pose>0 0 0.5 0 0 0</pose>
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</incoming>
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</pad>
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</plugin>
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</world>
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</sdf>
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