box_attach.sdf

<?xml version="1.0" ?>
<!--
-->
<sdf version="1.6">
  <world name="box_attach">
    <gravity>0 0 -9.8</gravity>
    <plugin
      filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
    </plugin>
    <plugin
      filename="gz-sim-sensors-system"
      name="gz::sim::systems::Sensors">
      <render_engine>ogre2</render_engine>
    </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>


    <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>
              <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 0.5</pose>
      <link name="box_link">
        <pose>0 0 0.0 0 0 1.0</pose>
        <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="box2">
      <pose>0 0 1.5 0.3 -0.1 1.57</pose>
      <link name="box_link">
        <pose>0 0 0.3 0.0 0.0 -0.57</pose>
        <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>0 0 1 1</ambient>
            <diffuse>0 0 1 1</diffuse>
            <specular>0 0 1 1</specular>
          </material>
        </visual>
      </link>

      <plugin filename="gz-sim-detachable-joint-system"
                name="gz::sim::systems::DetachableJoint">
         <parent_link>box_link</parent_link>
         <child_model>box</child_model>
         <child_link>box_link</child_link>
         <detach_topic>/detach</detach_topic>
         <attach_topic>/attach</attach_topic>
      </plugin>

    </model>

  </world>
</sdf>