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1<?xml version='1.0' encoding='us-ascii'?>
2<sdf version="1.9">
3 <world name="landmark">
4 <physics name="1ms" type="ignore">
5 <max_step_size>0.001</max_step_size>
6 <real_time_factor>1.0</real_time_factor>
7 </physics>
8 <plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands" />
9 <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics" />
10 <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
11 <render_engine>ogre2</render_engine>
12 </plugin>
13 <plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster" />
14 <scene>
15 <ambient>1.0 1.0 1.0</ambient>
16 <background>0.8 0.8 0.8</background>
17 <sky />
18 </scene>
19 <light type="directional" name="sun">
20 <cast_shadows>true</cast_shadows>
21 <pose>0 0 3 0 0 0</pose>
22 <diffuse>0.8 0.8 0.8 1</diffuse>
23 <specular>0.8 0.8 0.8 1</specular>
24 <direction>-0.5 0.1 -0.9</direction>
25 <attenuation>
26 <range>1000</range>
27 <constant>0.9</constant>
28 <linear>0.01</linear>
29 <quadratic>0.001</quadratic>
30 </attenuation>
31 </light>
32 <model name="ground_plane">
33 <pose>0 0 0 0 0 0</pose>
34 <static>true</static>
35 <link name="ground_plane_link">
36 <visual name="ground_plane_visual">
37 <geometry>
38 <plane>
39 <normal>0 0 1</normal>
40 <size>5000 5000</size>
41 </plane>
42 </geometry>
43 <material>
44 <ambient>1 1 1 1</ambient>
45 <diffuse>1 1 1 1</diffuse>
46 <specular>0 0 0 0</specular>
47 <emissive>1 1 1 1</emissive>
48 </material>
49 </visual>
50 <collision name="ground_plane_collision">
51 <geometry>
52 <plane>
53 <normal>0 0 1</normal>
54 <size>5000 5000</size>
55 </plane>
56 </geometry>
57 </collision>
58 </link>
59 </model>
60
61 <model name="pillar_1">
62 <pose>1 1 0 0 0 0</pose>
63 <static>true</static>
64 <link name="pillar_1_link">
65 <visual name="pillar_1_link_visual">
66 <geometry>
67 <cylinder>
68 <length>1</length>
69 <radius>0.1</radius>
70 </cylinder>
71 </geometry>
72 <material>
73 <ambient>1 0 0 1</ambient>
74 <diffuse>1 0 0 1</diffuse>
75 <specular>0 0 0 0</specular>
76 <emissive>1 0 0 1</emissive>
77 </material>
78 </visual>
79 <collision name="pillar_1_link_collision">
80 <geometry>
81 <cylinder>
82 <length>1</length>
83 <radius>0.1</radius>
84 </cylinder>
85 </geometry>
86 </collision>
87 </link>
88 </model>
89
90 <model name="pillar_2">
91 <pose>1 2 0 0 0 0</pose>
92 <static>true</static>
93 <link name="pillar_2_link">
94 <visual name="pillar_2_link_visual">
95 <geometry>
96 <cylinder>
97 <length>1</length>
98 <radius>0.1</radius>
99 </cylinder>
100 </geometry>
101 <material>
102 <ambient>1 0 0 1</ambient>
103 <diffuse>1 0 0 1</diffuse>
104 <specular>0 0 0 0</specular>
105 <emissive>1 0 0 1</emissive>
106 </material>
107 </visual>
108 <collision name="pillar_2_link_collision">
109 <geometry>
110 <cylinder>
111 <length>1</length>
112 <radius>0.1</radius>
113 </cylinder>
114 </geometry>
115 </collision>
116 </link>
117 </model>
118
119 <model name="pillar_3">
120 <pose>1 -1 0 0 0 0</pose>
121 <static>true</static>
122 <link name="pillar_3_link">
123 <visual name="pillar_3_link_visual">
124 <geometry>
125 <cylinder>
126 <length>1</length>
127 <radius>0.1</radius>
128 </cylinder>
129 </geometry>
130 <material>
131 <ambient>1 0 0 1</ambient>
132 <diffuse>1 0 0 1</diffuse>
133 <specular>0 0 0 0</specular>
134 <emissive>1 0 0 1</emissive>
135 </material>
136 </visual>
137 <collision name="pillar_3_link_collision">
138 <geometry>
139 <cylinder>
140 <length>1</length>
141 <radius>0.1</radius>
142 </cylinder>
143 </geometry>
144 </collision>
145 </link>
146 </model>
147
148 <model name="pillar_4">
149 <pose>1 -2 0 0 0 0</pose>
150 <static>true</static>
151 <link name="pillar_4_link">
152 <visual name="pillar_4_link_visual">
153 <geometry>
154 <cylinder>
155 <length>1</length>
156 <radius>0.1</radius>
157 </cylinder>
158 </geometry>
159 <material>
160 <ambient>1 0 0 1</ambient>
161 <diffuse>1 0 0 1</diffuse>
162 <specular>0 0 0 0</specular>
163 <emissive>1 0 0 1</emissive>
164 </material>
165 </visual>
166 <collision name="pillar_4_link_collision">
167 <geometry>
168 <cylinder>
169 <length>1</length>
170 <radius>0.1</radius>
171 </cylinder>
172 </geometry>
173 </collision>
174 </link>
175 </model>
176
177 <model name="pillar_5">
178 <pose>-1.5 1 0 0 0 0</pose>
179 <static>true</static>
180 <link name="pillar_5_link">
181 <visual name="pillar_5_link_visual">
182 <geometry>
183 <cylinder>
184 <length>1</length>
185 <radius>0.1</radius>
186 </cylinder>
187 </geometry>
188 <material>
189 <ambient>1 0 0 1</ambient>
190 <diffuse>1 0 0 1</diffuse>
191 <specular>0 0 0 0</specular>
192 <emissive>1 0 0 1</emissive>
193 </material>
194 </visual>
195 <collision name="pillar_5_link_collision">
196 <geometry>
197 <cylinder>
198 <length>1</length>
199 <radius>0.1</radius>
200 </cylinder>
201 </geometry>
202 </collision>
203 </link>
204 </model>
205
206 <model name="pillar_6">
207 <pose>2 2 0 0 0 0</pose>
208 <static>true</static>
209 <link name="pillar_6_link">
210 <visual name="pillar_6_link_visual">
211 <geometry>
212 <cylinder>
213 <length>1</length>
214 <radius>0.1</radius>
215 </cylinder>
216 </geometry>
217 <material>
218 <ambient>1 0 0 1</ambient>
219 <diffuse>1 0 0 1</diffuse>
220 <specular>0 0 0 0</specular>
221 <emissive>1 0 0 1</emissive>
222 </material>
223 </visual>
224 <collision name="pillar_6_link_collision">
225 <geometry>
226 <cylinder>
227 <length>1</length>
228 <radius>0.1</radius>
229 </cylinder>
230 </geometry>
231 </collision>
232 </link>
233 </model>
234
235 <model name="pillar_7">
236 <pose>-1 1.5 0 0 0 0</pose>
237 <static>true</static>
238 <link name="pillar_7_link">
239 <visual name="pillar_7_link_visual">
240 <geometry>
241 <cylinder>
242 <length>1</length>
243 <radius>0.1</radius>
244 </cylinder>
245 </geometry>
246 <material>
247 <ambient>1 0 0 1</ambient>
248 <diffuse>1 0 0 1</diffuse>
249 <specular>0 0 0 0</specular>
250 <emissive>1 0 0 1</emissive>
251 </material>
252 </visual>
253 <collision name="pillar_7_link_collision">
254 <geometry>
255 <cylinder>
256 <length>1</length>
257 <radius>0.1</radius>
258 </cylinder>
259 </geometry>
260 </collision>
261 </link>
262 </model>
263
264 <model name="pillar_8">
265 <pose>1 3 0 0 0 0</pose>
266 <static>true</static>
267 <link name="pillar_8_link">
268 <visual name="pillar_8_link_visual">
269 <geometry>
270 <cylinder>
271 <length>1</length>
272 <radius>0.1</radius>
273 </cylinder>
274 </geometry>
275 <material>
276 <ambient>1 0 0 1</ambient>
277 <diffuse>1 0 0 1</diffuse>
278 <specular>0 0 0 0</specular>
279 <emissive>1 0 0 1</emissive>
280 </material>
281 </visual>
282 <collision name="pillar_8_link_collision">
283 <geometry>
284 <cylinder>
285 <length>1</length>
286 <radius>0.1</radius>
287 </cylinder>
288 </geometry>
289 </collision>
290 </link>
291 </model>
292
293 <model name="pillar_9">
294 <pose>-1 -2.5 0 0 0 0</pose>
295 <static>true</static>
296 <link name="pillar_9_link">
297 <visual name="pillar_9_link_visual">
298 <geometry>
299 <cylinder>
300 <length>1</length>
301 <radius>0.1</radius>
302 </cylinder>
303 </geometry>
304 <material>
305 <ambient>1 0 0 1</ambient>
306 <diffuse>1 0 0 1</diffuse>
307 <specular>0 0 0 0</specular>
308 <emissive>1 0 0 1</emissive>
309 </material>
310 </visual>
311 <collision name="pillar_9_link_collision">
312 <geometry>
313 <cylinder>
314 <length>1</length>
315 <radius>0.1</radius>
316 </cylinder>
317 </geometry>
318 </collision>
319 </link>
320 </model>
321
322 <model name="pillar_10">
323 <pose>-2.5 1 0 0 0 0</pose>
324 <static>true</static>
325 <link name="pillar_10_link">
326 <visual name="pillar_10_link_visual">
327 <geometry>
328 <cylinder>
329 <length>1</length>
330 <radius>0.1</radius>
331 </cylinder>
332 </geometry>
333 <material>
334 <ambient>1 0 0 1</ambient>
335 <diffuse>1 0 0 1</diffuse>
336 <specular>0 0 0 0</specular>
337 <emissive>1 0 0 1</emissive>
338 </material>
339 </visual>
340 <collision name="pillar_10_link_collision">
341 <geometry>
342 <cylinder>
343 <length>1</length>
344 <radius>0.1</radius>
345 </cylinder>
346 </geometry>
347 </collision>
348 </link>
349 </model>
350 </world>
351</sdf>