/
collada_world_exporter.sdf
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collada_world_exporter.sdf
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<?xml version="1.0" ?>
<!--
This world will load the ColladaWorldExporter plugin, which is designed to
convert a world to a single Collada file. When this world is run, a subdirectory
named after the world is created. Within this subdirectory is the mesh and
materials for the world.
This example just exports simple shapes into a Collada file. To run use:
ign gazebo -v 4 -s -r --iterations 1 collada_world_exporter.sdf
-->
<sdf version="1.6">
<world name="shapes">
<plugin
filename="ignition-gazebo-collada-world-exporter-system"
name="ignition::gazebo::systems::ColladaWorldExporter">
</plugin>
<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>0.8 0.8 0.8 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>
</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>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="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>2</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>2</iyy>
<iyz>0</iyz>
<izz>2</izz>
</inertia>
<mass>2.0</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>3</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>3</iyy>
<iyz>0</iyz>
<izz>3</izz>
</inertia>
<mass>3.0</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>
</world>
</sdf>