<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>

    <model name="triangle">
      <link name="link">
        <inertial>
          <pose>0 0 0.5 0 0 0</pose>
          <mass>1.0</mass>
          <inertia>
            <ixx>0.1666</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.1666</iyy>
            <iyz>0</iyz>
            <izz>0.1666</izz>
          </inertia>
        </inertial>

        <collision name="collision">
          <geometry>
            <polyline>
              <point>-0.5 -0.5</point>
              <point>-0.5 0.5</point>
              <point>0.5 0.5</point>
              <point>0 0</point>
              <point>0.5 -0.5</point>
              <height>1</height>
            </polyline>
          </geometry>
        </collision>

        <visual name="triangle">
          <geometry>
            <polyline>
              <point>-0.5 -0.5</point>
              <point>-0.5 0.5</point>
              <point>0.5 0.5</point>
              <point>0 0</point>
              <point>0.5 -0.5</point>
              <height>1</height>
            </polyline>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Red</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name="pentagon">
      <static>true</static>
      <pose>0 2 5 0 0 0</pose>
      <link name="polyLine2">
        <pose>1 1 0 0 0 0</pose>
        <collision name="collision">
          <geometry>
            <polyline>
              <point>-3 5</point>
              <point>3 3</point>
              <point>3 -3</point>
              <point>-3 -5</point>
              <point>-5 0</point>
              <height>4</height>
            </polyline>
          </geometry>
        </collision>

        <visual name="polyLineGeom2">
          <geometry>
            <polyline>
              <point>-3 5</point>
              <point>3 3</point>
              <point>3 -3</point>
              <point>-3 -5</point>
              <point>-5 0</point>
              <height>4</height>
            </polyline>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Blue</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name="cube">
      <pose>2 2 0 0 0 0</pose>
      <static>true</static>
      <link name="polyLine2">
        <collision name="collision">
          <geometry>
            <polyline>
              <point>0 0</point>
              <point>0 1</point>
              <point>1 1</point>
              <point>1 0 </point>
              <height>1.5</height>
            </polyline>
          </geometry>
        </collision>

        <visual name="polyLineGeom2">
          <geometry>
            <polyline>
              <point>0 0</point>
              <point>0 1</point>
              <point>1 1</point>
              <point>1 0 </point>
              <height>1.5</height>
            </polyline>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Yellow</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name="letter">
      <pose>2 2 0 0 0 0</pose>
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <polyline>
              <point>2.27467 1.0967</point>
              <point>1.81094 2.35418</point>
              <point>2.74009 2.35418</point>
              <height>1.0</height>
            </polyline>
            <polyline>
              <point>2.08173 0.7599</point>
              <point>2.4693 0.7599</point>
              <point>3.4323 3.28672</point>
              <point>3.07689 3.28672</point>
              <point>2.84672 2.63851</point>
              <point>1.7077 2.63851</point>
              <point>1.47753 3.28672</point>
              <point>1.11704 3.28672</point>
              <height>1.0</height>
            </polyline>
          </geometry>
        </collision>

        <visual name="visual">
          <geometry>
            <polyline>
              <point>2.27467 1.0967</point>
              <point>1.81094 2.35418</point>
              <point>2.74009 2.35418</point>
              <height>1.0</height>
            </polyline>
            <polyline>
              <point>2.08173 0.7599</point>
              <point>2.4693 0.7599</point>
              <point>3.4323 3.28672</point>
              <point>3.07689 3.28672</point>
              <point>2.84672 2.63851</point>
              <point>1.7077 2.63851</point>
              <point>1.47753 3.28672</point>
              <point>1.11704 3.28672</point>
              <height>1.0</height>
            </polyline>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Red</name>
            </script>
          </material>
        </visual>
      </link>
    </model>
  </world>
</sdf>
