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WALLS: remove walls below groundplane #60

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WALLS: remove walls below groundplane #60

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92 changes: 40 additions & 52 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 @@ -224,21 +212,47 @@
<pose>0 0 0 0 -0 0</pose>
<self_collide>false</self_collide>
</model>
<light name="sunUTC" type="directional">
<pose>0 0 500 0 -0 0</pose>
<cast_shadows>true</cast_shadows>
<intensity>1</intensity>
<direction>0.001 0.625 -0.78</direction>
<diffuse>0.904 0.904 0.904 1</diffuse>
<specular>0.271 0.271 0.271 1</specular>
<attenuation>
<range>2000</range>
<linear>0</linear>
<constant>1</constant>
<quadratic>0</quadratic>
</attenuation>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
<spherical_coordinates>
<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>
<elevation>0</elevation>
</spherical_coordinates>
<model name="box1">
<pose>5 0 0 0 0 0</pose>
<pose>5 0 7.5 0 0 0</pose>
<static>true</static>
<link name="link1">
<collision name="collision">
<geometry>
<box>
<size>1 20 30</size>
<size>1 20 15</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 20 30</size>
<size>1 20 15</size>
</box>
</geometry>
<material>
Expand All @@ -251,19 +265,19 @@
</model>
<model name="box2">
<static>true</static>
<pose>-3 5 0 0 0 0</pose>
<pose>-3 5 7.5 0 0 0</pose>
<link name="link2">
<collision name="collision">
<geometry>
<box>
<size>10 1 30</size>
<size>10 1 15</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>10 1 30</size>
<size>10 1 15</size>
</box>
</geometry>
<material>
Expand All @@ -276,19 +290,19 @@
</model>
<model name="box3">
<static>true</static>
<pose>13 -10 0 0 0 0</pose>
<link name="link2">
<pose>13 -10 7.5 0 0 0</pose>
<link name="link3">
<collision name="collision">
<geometry>
<box>
<size>17 1 30</size>
<size>17 1 15</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>17 1 30</size>
<size>17 1 15</size>
</box>
</geometry>
<material>
Expand All @@ -300,20 +314,20 @@
</link>
</model>
<model name="box4">
<pose>12 0 0 0 0 0</pose>
<pose>12 0 7.5 0 0 0</pose>
<static>true</static>
<link name="link1">
<link name="link4">
<collision name="collision">
<geometry>
<box>
<size>1 20 30</size>
<size>1 20 15</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 20 30</size>
<size>1 20 15</size>
</box>
</geometry>
<material>
Expand All @@ -324,31 +338,5 @@
</visual>
</link>
</model>
<light name="sunUTC" type="directional">
<pose>0 0 500 0 -0 0</pose>
<cast_shadows>true</cast_shadows>
<intensity>1</intensity>
<direction>0.001 0.625 -0.78</direction>
<diffuse>0.904 0.904 0.904 1</diffuse>
<specular>0.271 0.271 0.271 1</specular>
<attenuation>
<range>2000</range>
<linear>0</linear>
<constant>1</constant>
<quadratic>0</quadratic>
</attenuation>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
<spherical_coordinates>
<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>
<elevation>0</elevation>
</spherical_coordinates>
</world>
</sdf>
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