quadruped_ros2_control/libraries/gz_quadruped_playground/worlds/warehouse.sdf

<?xml version='1.0' encoding='ASCII'?>
<sdf version='1.7'>
  <world name='world_demo'>
    <physics name="1ms" type="ignored">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>
    <plugin
      filename="gz-sim-sensors-system"
      name="gz::sim::systems::Sensors">
      <render_engine>ogre2</render_engine>
    </plugin>
    <plugin
      filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
    </plugin>
    <plugin
      filename="gz-sim-user-commands-system"
      name="gz::sim::systems::UserCommands">
    </plugin>
    <plugin
      filename="gz-sim-scene-broadcaster-system"
      name="gz::sim::systems::SceneBroadcaster">
    </plugin>

    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>1 1</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode/>
            </friction>
            <bounce/>
            <contact/>
          </surface>
        </collision>
      </link>
      <pose>0 0 0 0 0 0</pose>
    </model>

    <include>
      <uri>
        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Depot
      </uri>
      <pose>7.19009 1.09982 0 0 0 0</pose>
    </include>

    <model name='depot_collision'>
      <static>1</static>
      <pose>7.19009 1.09982 0 0 0 0</pose>
      <link name='collision_link'>
        <pose>0 0 0 0 0 0</pose>
        <collision name='wall1'>
          <pose>0 -7.6129 4.5 0 0 0</pose>
          <geometry>
            <box>
              <size>30.167 0.08 9</size>
            </box>
          </geometry>
        </collision>
        <collision name='wall2'>
          <pose>0 7.2875 4.5 0 0 0</pose>
          <geometry>
            <box>
              <size>30.167 0.08 9</size>
            </box>
          </geometry>
        </collision>
        <collision name='wall3'>
          <pose>-15 0 4.5 0 0 0</pose>
          <geometry>
            <box>
              <size>0.08 15.360 9</size>
            </box>
          </geometry>
        </collision>
        <collision name='wall4'>
          <pose>15 0 4.5 0 0 0</pose>
          <geometry>
            <box>
              <size>0.08 15.360 9</size>
            </box>
          </geometry>
        </collision>
        <collision name='boxes1'>
          <pose>0.22268 -4.7268 0.68506 0 0 0</pose>
          <geometry>
            <box>
              <size>1.288 1.422 1.288</size>
            </box>
          </geometry>
        </collision>
        <collision name='boxes2'>
          <pose>3.1727 -4.7268 0.68506 0 0 0</pose>
          <geometry>
            <box>
              <size>1.288 1.422 1.288</size>
            </box>
          </geometry>
        </collision>
        <collision name='boxes3'>
          <pose>5.95268 -4.7268 0.68506 0 0 0</pose>
          <geometry>
            <box>
              <size>1.288 1.422 1.288</size>
            </box>
          </geometry>
        </collision>
        <collision name='boxes4'>
          <pose>8.55887 -4.7268 0.68506 0 0 0</pose>
          <geometry>
            <box>
              <size>1.288 1.422 1.288</size>
            </box>
          </geometry>
        </collision>
        <collision name='boxes5'>
          <pose>11.326 -4.7268 0.68506 0 0 0</pose>
          <geometry>
            <box>
              <size>1.288 1.422 1.288</size>
            </box>
          </geometry>
        </collision>
        <collision name='boxes6'>
          <pose>0.22268 -2.37448 0.68506 0 0 0</pose>
          <geometry>
            <box>
              <size>1.288 1.422 1.288</size>
            </box>
          </geometry>
        </collision>
        <collision name='boxes7'>
          <pose>3.1727 -2.37448 0.68506 0 0 0</pose>
          <geometry>
            <box>
              <size>1.288 1.422 1.288</size>
            </box>
          </geometry>
        </collision>
        <collision name='boxes8'>
          <pose>5.95268 -2.37448 0.68506 0 0 0</pose>
          <geometry>
            <box>
              <size>1.288 1.422 1.288</size>
            </box>
          </geometry>
        </collision>
        <collision name='boxes9'>
          <pose>8.55887 -2.37448 0.68506 0 0 0</pose>
          <geometry>
            <box>
              <size>1.288 1.422 1.288</size>
            </box>
          </geometry>
        </collision>
        <collision name='boxes10'>
          <pose>11.326 -2.37448 0.68506 0 0 0</pose>
          <geometry>
            <box>
              <size>1.288 1.422 1.288</size>
            </box>
          </geometry>
        </collision>
        <collision name='boxes11'>
          <pose>-1.2268 4.1557 0.68506 0 0 -1.02799893</pose>
          <geometry>
            <box>
              <size>1.288 1.422 1.288</size>
            </box>
          </geometry>
        </collision>
        <collision name='pilar1'>
          <pose>-7.5402 3.6151 1 0 0 0</pose>
          <geometry>
            <box>
              <size>0.465 0.465 2</size>
            </box>
          </geometry>
        </collision>
        <collision name='pilar2'>
          <pose>7.4575 3.6151 1 0 0 0</pose>
          <geometry>
            <box>
              <size>0.465 0.465 2</size>
            </box>
          </geometry>
        </collision>
        <collision name='pilar3'>
          <pose>-7.5402 -3.8857 1 0 0 0</pose>
          <geometry>
            <box>
              <size>0.465 0.465 2</size>
            </box>
          </geometry>
        </collision>
        <collision name='pilar4'>
          <pose>7.4575 -3.8857 1 0 0 0</pose>
          <geometry>
            <box>
              <size>0.465 0.465 2</size>
            </box>
          </geometry>
        </collision>
        <collision name='pallet_mover1'>
          <pose>-0.6144 -2.389 0.41838 0 0 0</pose>
          <geometry>
            <box>
              <size>0.363 0.440 0.719</size>
            </box>
          </geometry>
        </collision>
        <collision name='pallet_mover2'>
          <pose>-1.6004 4.8225 0.41838 0 0 0</pose>
          <geometry>
            <box>
              <size>0.363 0.244 0.719</size>
            </box>
          </geometry>
        </collision>
        <collision name='stairs'>
          <pose>13.018 3.1652 0.25 0 0 0</pose>
          <geometry>
            <box>
              <size>1.299 0.6 0.5</size>
            </box>
          </geometry>
        </collision>
        <collision name='shelfs1'>
          <pose>1.4662 -0.017559 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='shelfs2'>
          <pose>2.6483 -0.017559 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='shelfs3'>
          <pose>5.3247 -0.017559 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='shelfs4'>
          <pose>6.5063 -0.017559 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='shelfs5'>
          <pose>9.0758 -0.017559 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='shelfs6'>
          <pose>10.258 -0.017559 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='shelfs7'>
          <pose>1.4662 2.5664 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='shelfs8'>
          <pose>2.6483 2.5664 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='shelfs9'>
          <pose>5.3247 2.5664 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='shelfs10'>
          <pose>6.5063 2.5664 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='shelfs11'>
          <pose>9.0758 2.5664 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='shelfs12'>
          <pose>10.258 2.5664 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='shelfs13'>
          <pose>1.4662 5.1497 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='shelfs14'>
          <pose>2.6483 5.1497 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='shelfs15'>
          <pose>5.3247 5.1497 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='shelfs16'>
          <pose>6.5063 5.1497 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='shelfs17'>
          <pose>9.0758 5.1497 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <collision name='shelfs18'>
          <pose>10.258 5.1497 0.5 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.03</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
      </link>
    </model>
  </world>
</sdf>