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WALLS: remove walls below groundplane
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@Claudio-Chies
Claudio-Chies committed Oct 3, 2024
1 parent 536305a commit 23ca5a3
Showing 1 changed file with 101 additions and 113 deletions.
214 changes: 101 additions & 113 deletions worlds/walls.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -166,18 +166,6 @@
<model name="ground_plane">
<static>true</static>
<link name="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>10</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name="collision">
<geometry>
<plane>
Expand Down Expand Up @@ -224,106 +212,6 @@
<pose>0 0 0 0 -0 0</pose>
<self_collide>false</self_collide>
</model>
<model name="box1">
<pose>5 0 0 0 0 0</pose>
<static>true</static>
<link name="link1">
<collision name="collision">
<geometry>
<box>
<size>1 20 30</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 20 30</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
</link>
</model>
<model name="box2">
<static>true</static>
<pose>-3 5 0 0 0 0</pose>
<link name="link2">
<collision name="collision">
<geometry>
<box>
<size>10 1 30</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>10 1 30</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
</link>
</model>
<model name="box3">
<static>true</static>
<pose>13 -10 0 0 0 0</pose>
<link name="link2">
<collision name="collision">
<geometry>
<box>
<size>17 1 30</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>17 1 30</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
</link>
</model>
<model name="box4">
<pose>12 0 0 0 0 0</pose>
<static>true</static>
<link name="link1">
<collision name="collision">
<geometry>
<box>
<size>1 20 30</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 20 30</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
</link>
</model>
<light name="sunUTC" type="directional">
<pose>0 0 500 0 -0 0</pose>
<cast_shadows>true</cast_shadows>
Expand All @@ -347,8 +235,108 @@
<surface_model>EARTH_WGS84</surface_model>
<world_frame_orientation>ENU</world_frame_orientation>
<latitude_deg>47.397971057728974</latitude_deg>
<longitude_deg> 8.546163739800146</longitude_deg>
<longitude_deg>8.546163739800146</longitude_deg>
<elevation>0</elevation>
</spherical_coordinates>
<model name="box1">
<pose>5 0 7.5 0 0 0</pose>
<static>true</static>
<link name="link1">
<collision name="collision">
<geometry>
<box>
<size>1 20 15</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 20 15</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
</link>
</model>
<model name="box2">
<static>true</static>
<pose>-3 5 7.5 0 0 0</pose>
<link name="link2">
<collision name="collision">
<geometry>
<box>
<size>10 1 15</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>10 1 15</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
</link>
</model>
<model name="box3">
<static>true</static>
<pose>13 -10 7.5 0 0 0</pose>
<link name="link3">
<collision name="collision">
<geometry>
<box>
<size>17 1 15</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>17 1 15</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
</link>
</model>
<model name="box4">
<pose>12 0 7.5 0 0 0</pose>
<static>true</static>
<link name="link4">
<collision name="collision">
<geometry>
<box>
<size>1 20 15</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 20 15</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</visual>
</link>
</model>
</world>
</sdf>

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