146 lines
3.3 KiB
XML
146 lines
3.3 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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<!-- A global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<!-- A ground plane -->
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<!-- Testing the automatic population of objects -->
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<population name="can_population1">
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<model name="can1">
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<include>
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<uri>model://coke_can</uri>
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</include>
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</model>
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<pose>3 3 0 0 0 0</pose>
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<box>
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<size>1 1 0.1</size>
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</box>
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<model_count>10</model_count>
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<distribution>
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<type>random</type>
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</distribution>
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</population>
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<population name="can_population2">
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<model name="can2">
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<include>
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<uri>model://coke_can</uri>
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</include>
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</model>
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<pose>0 0 0 0 0 0</pose>
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<distribution>
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<type>grid</type>
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<rows>2</rows>
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<cols>3</cols>
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<step>0.25 0.25 0</step>
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</distribution>
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</population>
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<population name="can_population3">
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<model name="can3">
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<include>
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<uri>model://coke_can</uri>
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</include>
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</model>
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<pose>-3 3 0 0 0 0</pose>
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<cylinder>
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<radius>1</radius>
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<length>0.01</length>
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</cylinder>
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<model_count>10</model_count>
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<distribution>
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<type>random</type>
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</distribution>
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</population>
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<population name="can_population4">
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<model name="can4">
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<include>
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<uri>model://coke_can</uri>
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</include>
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</model>
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<pose>1 -4 0 0 0 0</pose>
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<box>
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<size>4 2 0.01</size>
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</box>
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<model_count>10</model_count>
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<distribution>
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<type>uniform</type>
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</distribution>
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</population>
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<population name="can_population5">
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<model name="can5">
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<include>
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<uri>model://coke_can</uri>
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</include>
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</model>
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<pose>-3 -3 0 0 0 0</pose>
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<cylinder>
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<radius>1</radius>
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<length>0.1</length>
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</cylinder>
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<model_count>10</model_count>
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<distribution>
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<type>uniform</type>
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</distribution>
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</population>
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<population name="can_population6">
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<model name="can6">
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<include>
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<uri>model://coke_can</uri>
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</include>
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</model>
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<pose>0 4 0 0 0 0</pose>
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<box>
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<size>2 1 0.01</size>
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</box>
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<model_count>6</model_count>
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<distribution>
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<type>linear-x</type>
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</distribution>
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</population>
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<population name="can_population7">
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<model name="can7">
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<include>
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<uri>model://coke_can</uri>
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</include>
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</model>
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<pose>-5 -1 0 0 0 0</pose>
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<box>
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<size>1 2 0.01</size>
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</box>
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<model_count>6</model_count>
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<distribution>
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<type>linear-y</type>
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</distribution>
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</population>
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<population name="can_population8">
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<model name="can8">
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<static>true</static>
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<include>
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<uri>model://coke_can</uri>
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</include>
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</model>
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<pose>4 0 0.7 0 0 0</pose>
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<box>
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<size>0.2 0.2 1.4</size>
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</box>
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<model_count>6</model_count>
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<distribution>
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<type>linear-z</type>
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</distribution>
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</population>
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</world>
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</sdf>
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