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shapes.sdf
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<?xml version="1.0" ?>
<sdf version="1.11">
<!--
Try moving a model using the command in the following CDATA block::
-->
<![CDATA[
gz service -s /world/shapes/set_pose \
--reqtype gz.msgs.Pose --reptype gz.msgs.Boolean \
--timeout 300 --req 'name: "box", position: {z: 5.0}'
]]>
<world name="shapes">
<scene>
<ambient>1.0 1.0 1.0</ambient>
<background>0.8 0.8 0.8</background>
</scene>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>
<model name="box">
<pose>0 0 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>
<model name="cylinder">
<pose>0 -1.5 0.5 0 0 0</pose>
<link name="cylinder_link">
<inertial>
<inertia>
<ixx>0.1458</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1458</iyy>
<iyz>0</iyz>
<izz>0.125</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="cylinder_collision">
<geometry>
<cylinder>
<radius>0.5</radius>
<length>1.0</length>
</cylinder>
</geometry>
</collision>
<visual name="cylinder_visual">
<geometry>
<cylinder>
<radius>0.5</radius>
<length>1.0</length>
</cylinder>
</geometry>
<material>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>
</link>
</model>
<model name="sphere">
<pose>0 1.5 0.5 0 0 0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0 0 1 1</specular>
</material>
</visual>
</link>
</model>
<model name="capsule">
<pose>0 -3.0 0.5 0 0 0</pose>
<link name="capsule_link">
<inertial>
<inertia>
<ixx>0.074154</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.074154</iyy>
<iyz>0</iyz>
<izz>0.018769</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="capsule_collision">
<geometry>
<capsule>
<radius>0.2</radius>
<length>0.6</length>
</capsule>
</geometry>
</collision>
<visual name="capsule_visual">
<geometry>
<capsule>
<radius>0.2</radius>
<length>0.6</length>
</capsule>
</geometry>
<material>
<ambient>1 1 0 1</ambient>
<diffuse>1 1 0 1</diffuse>
<specular>1 1 0 1</specular>
</material>
</visual>
</link>
</model>
<model name="ellipsoid">
<pose>0 3.0 0.5 0 0 0</pose>
<link name="ellipsoid_link">
<inertial>
<inertia>
<ixx>0.068</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.058</iyy>
<iyz>0</iyz>
<izz>0.026</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="ellipsoid_collision">
<geometry>
<ellipsoid>
<radii>0.2 0.3 0.5</radii>
</ellipsoid>
</geometry>
</collision>
<visual name="ellipsoid_visual">
<geometry>
<ellipsoid>
<radii>0.2 0.3 0.5</radii>
</ellipsoid>
</geometry>
<material>
<ambient>1 0 1 1</ambient>
<diffuse>1 0 1 1</diffuse>
<specular>1 0 1 1</specular>
</material>
</visual>
</link>
</model>
<model name="cone">
<pose>0 4.5 0.5 0 0 0</pose>
<link name="cone_link">
<inertial auto="true">
<density>1</density>
</inertial>
<collision name="cone_collision">
<geometry>
<cone>
<radius>0.5</radius>
<length>1.0</length>
</cone>
</geometry>
</collision>
<visual name="cone_visual">
<geometry>
<cone>
<radius>0.5</radius>
<length>1.0</length>
</cone>
</geometry>
<material>
<ambient>1 0.47 0 1</ambient>
<diffuse>1 0.47 0 1</diffuse>
<specular>1 0.47 0 1</specular>
</material>
</visual>
</link>
</model>
</world>
</sdf>