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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='simple'>
<link name='fixed'></link>
<pose frame=''>0 0 0 0 -0 0</pose>
<link name='Wall_0'>
<collision name='Wall_0_Collision'>
<geometry>
<box>
<size>4.3 0.15 0.5</size>
</box>
</geometry>
<pose frame=''>0 0 0.25 0 -0 0</pose>
</collision>
<visual name='Wall_0_Visual'>
<pose frame=''>0 0 0.25 0 -0 0</pose>
<geometry>
<box>
<size>4.3 0.15 0.5</size>
</box>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>0 2.075 0 0 -0 0</pose>
</link>
<link name='Wall_2'>
<collision name='Wall_2_Collision'>
<geometry>
<box>
<size>4.3 0.15 0.5</size>
</box>
</geometry>
<pose frame=''>0 0 0.25 0 -0 0</pose>
</collision>
<visual name='Wall_2_Visual'>
<pose frame=''>0 0 0.25 0 -0 0</pose>
<geometry>
<box>
<size>4.3 0.15 0.5</size>
</box>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>-2.075 0 0 0 0 -1.5708</pose>
</link>
<link name='Wall_3'>
<collision name='Wall_3_Collision'>
<geometry>
<box>
<size>4.3 0.15 0.5</size>
</box>
</geometry>
<pose frame=''>0 0 0.25 0 -0 0</pose>
</collision>
<visual name='Wall_3_Visual'>
<pose frame=''>0 0 0.25 0 -0 0</pose>
<geometry>
<box>
<size>4.3 0.15 0.5</size>
</box>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>0 -2.075 0 0 -0 0</pose>
</link>
<link name='Wall_4'>
<collision name='Wall_4_Collision'>
<geometry>
<box>
<size>4.3 0.15 0.5</size>
</box>
</geometry>
<pose frame=''>0 0 0.25 0 -0 0</pose>
</collision>
<visual name='Wall_4_Visual'>
<pose frame=''>0 0 0.25 0 -0 0</pose>
<geometry>
<box>
<size>4.3 0.15 0.5</size>
</box>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>2.075 0 0 0 -0 1.5708</pose>
</link>
<link name='Cylinder_1'>
<collision name='Cylinder_1_Collision'>
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.5</length>
</cylinder>
</geometry>
<pose frame=''>0 0 0.25 0 -0 0</pose>
</collision>
<visual name='Cylinder_1_Visual'>
<pose frame=''>0 0 0.25 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.3</radius>
<length>0.5</length>
</cylinder>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
</material>
</visual>
<pose frame=''>0.3 0.2 0 0 0 0</pose>
</link>
<static>1</static>
</model>
</sdf>
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