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空のワールドに赤青緑黄の箱を配置
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@YusukeKato
YusukeKato committed Oct 23, 2023
1 parent e16cbaa commit a241d45
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148 changes: 148 additions & 0 deletions raspimouse_gazebo/worlds/color_objects_world.sdf
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</uri>
</include>

<model name="cube_5cm_red">
<link name="cube_red_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="cube_red_collision">
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
</collision>
<visual name="cube_red_visual">
<pose>0.3 0 0.025 0 0 0</pose>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>0 0 0 0</specular>
<emissive>0 0 0 1</emissive>
</material>
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
</visual>
</link>
</model>

<model name="cube_7.5cm_green">
<link name="cube_green_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="cube_green_collision">
<geometry>
<box>
<size>0.075 0.075 0.075</size>
</box>
</geometry>
</collision>
<visual name="cube_green_visual">
<pose>0 0.5 0.0375 0 0 0</pose>
<material>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0 0 0 0</specular>
<emissive>0 0 0 1</emissive>
</material>
<geometry>
<box>
<size>0.075 0.075 0.075</size>
</box>
</geometry>
</visual>
</link>
</model>

<model name="cube_10cm_blue">
<link name="cube_blue_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="cube_blue_collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="cube_blue_visual">
<pose>-0.5 0 0.05 0 0 0</pose>
<material>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0 0 0 0</specular>
<emissive>0 0 0 1</emissive>
</material>
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
</link>
</model>

<model name="cube_15cm_yellow">
<link name="cube_yellow_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="cube_yellow_collision">
<geometry>
<box>
<size>0.15 0.15 0.15</size>
</box>
</geometry>
</collision>
<visual name="cube_green_visual">
<pose>0 -0.5 0.075 0 0 0</pose>
<material>
<ambient>1 1 0 1</ambient>
<diffuse>1 1 0 1</diffuse>
<specular>0 0 0 0</specular>
<emissive>0 0 0 1</emissive>
</material>
<geometry>
<box>
<size>0.15 0.15 0.15</size>
</box>
</geometry>
</visual>
</link>
</model>

</world>
</sdf>

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