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<?xml version="1.0" ?>
<sdf version="1.7"
xmlns:experimental="http://sdformat.org/schemas/experimental">
<world name="world_custom_model">
<model name="robot">
<include>
<uri>robot</uri>
<experimental:params>
<visual element_id="chassis::lidar_visual" action="remove"/>
<sensor element_id="chassis::lidar" action="remove"/>
<sensor element_id="chassis::camera" action="remove">
<always_on/>
<visualize/>
</sensor>
<visual element_id="chassis" name="camera_visual" action="add">
<pose>-1.06 0 0 0 0 3.14</pose>
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<link element_id="" name="new_link" action="add">
<pose>0 0 0 0 0 0</pose>
<sensor type="camera" name="camera_sensor">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
</sensor>
</link>
<visual element_id="nested_models::model1::link1" name="new_visual" action="add">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<visual element_id="top::camera_visual">
<transparency action="add">0.5</transparency>
<plugin name="some_visual_plugin" filename="/path/to/plugin" action="add"/>
<plugin name="some_visual_plugin" filename="/path/to/plugin" action="add"/>
<material action="remove">
<specular/>
<lighting/>
</material>
<geometry action="replace">
<sphere>
<radius>0.05</radius>
</sphere>
</geometry>
<material action="modify">
<ambient>0 0 1 1</ambient>
<diffuse/>
</material>
</visual>
<plugin element_id="top::camera_visual" name="some_visual_plugin" filename="/path/to/plugin" action="add"/>
<link element_id="top">
<collision name="camera_collision" action="remove"/>
<visual name="top_visual" action="remove">
<transparency/>
<cast_shadows/>
<plugin/>
<plugin name="top_plugin3"/>
</visual>
<collision name="top_collision" action="replace">
<geometry>
<sphere>
<radius>0.65</radius>
</sphere>
</geometry>
</collision>
<visual name="top_visual" action="modify" custom:test="foo">
<geometry>
<box>
<size custom:test="bar">1 0.5 0.5</size>
</box>
</geometry>
</visual>
</link>
<!-- attribute test get's stripped during replace -->
<collision element_id="right_wheel::collision" test="hello" name="right_wheel_collision" action="replace">
<geometry>
<cylinder>
<radius>0.2</radius>
<length>0.3</length>
</cylinder>
</geometry>
</collision>
<!-- attribute custom:test does not get stripped -->
<collision element_id="left_wheel::collision" custom:test="hello" name="left_wheel_collision" action="replace">
<geometry>
<cylinder>
<radius>0.2</radius>
<length>0.3</length>
</cylinder>
</geometry>
</collision>
<visual element_id="top::top_visual">
<material action="replace">
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
</material>
</visual>
<sensor element_id="top::camera" name="cam" action="modify" custom:test="hello">
<pose relative_to="__model__">0.1 0.2 0.3 0 0 0</pose>
<topic>top/cam</topic>
<update_rate>20</update_rate>
<camera name="top_camera">
<image>
<width>1280</width>
</image>
<clip custom:test="foo">
<far>50</far>
<near>0.05</near>
</clip>
<horizontal_fov/>
</camera>
</sensor>
<link element_id="caster" action="modify">
<pose relative_to="right_wheel"/>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.05</ixx>
<iyy>0.05</iyy>
<izz>0.05</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<sphere>
<radius>0.8</radius>
</sphere>
</geometry>
<material>
<specular>1 1 1 1</specular>
</material>
</visual>
<collision name="collision">
<geometry>
<sphere>
<radius>0.8</radius>
</sphere>
</geometry>
</collision>
</link>
<model element_id="nested_models">
<pose action="modify" relative_to="caster">1 1 1 0 0 0</pose>
</model>
<!-- add link with custom element -->
<link element_id="" name="link_custom1" action="add">
<foo:custom_elem>
foo
</foo:custom_elem>
</link>
<link element_id="link_custom1">
<!-- modify newly added custom element -->
<foo:custom_elem custom:attr="test" action="modify">
bar
</foo:custom_elem>
</link>
</experimental:params>
</include>
</model>
</world>
</sdf>
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