<?xml version="1.0" ?>
<sdf version="1.6">
  <model name="shapes">
    <link name="link">
      <collision name="box_col">
        <geometry>
          <box>
            <size>3 4 5</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <collide_bitmask>0xAB</collide_bitmask>
          </contact>
        </surface>
      </collision>

      <visual name="box_vis">
        <geometry>
          <box>
            <size>1 2 3</size>
          </box>
        </geometry>
      </visual>

      <collision name="cylinder_col">
        <geometry>
          <cylinder>
            <radius>0.2</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
      </collision>

      <visual name="cylinder_vis">
        <geometry>
          <cylinder>
            <radius>2.1</radius>
            <length>10.2</length>
          </cylinder>
        </geometry>
      </visual>

      <collision name="plane_col">
        <geometry>
          <plane>
            <normal>1 0 0</normal>
            <size>1.4 6.3</size>
          </plane>
        </geometry>
      </collision>

      <visual name="plane_vis">
        <geometry>
          <plane>
            <normal>0 1 0</normal>
            <size>2 4</size>
          </plane>
        </geometry>
      </visual>

      <collision name="sphere_col">
        <geometry>
          <sphere>
            <radius>23.4</radius>
          </sphere>
        </geometry>
      </collision>

      <visual name="sphere_vis">
        <geometry>
          <sphere>
            <radius>100.2</radius>
          </sphere>
        </geometry>
      </visual>

      <collision name="mesh_col">
        <geometry>
          <mesh>
            <uri>https://fuel.ignitionrobotics.org/1.0/an_org/models/a_model/mesh/mesh.dae</uri>
            <submesh>
              <name>my_submesh</name>
              <center>true</center>
            </submesh>
            <scale>0.1 0.2 0.3</scale>
          </mesh>
        </geometry>
      </collision>

      <visual name="mesh_vis">
        <geometry>
          <mesh>
            <uri>https://fuel.ignitionrobotics.org/1.0/an_org/models/a_model/mesh/mesh.dae</uri>
            <submesh>
              <name>another_submesh</name>
              <center>false</center>
            </submesh>
            <scale>1.2 2.3 3.4</scale>
          </mesh>
        </geometry>
      </visual>

      <collision name="heightmap_col">
        <geometry>
          <heightmap>
            <uri>https://fuel.ignitionrobotics.org/1.0/an_org/models/a_model/materials/textures/heightmap.png</uri>
            <size>500 500 100</size>
            <pos>1 2 3</pos>
          </heightmap>
        </geometry>
      </collision>

      <visual name="heightmap_vis">
        <geometry>
          <heightmap>
            <uri>https://fuel.ignitionrobotics.org/1.0/an_org/models/a_model/materials/textures/heightmap.png</uri>
            <size>500 500 100</size>
            <pos>1 2 3</pos>
            <texture>
              <diffuse>https://fuel.ignitionrobotics.org/1.0/an_org/models/a_model/materials/textures/diffuse0.png</diffuse>
              <normal>https://fuel.ignitionrobotics.org/1.0/an_org/models/a_model/materials/textures/normal0.png</normal>
              <size>5</size>
            </texture>
            <blend>
              <min_height>15</min_height>
              <fade_dist>5</fade_dist>
            </blend>
            <texture>
              <diffuse>https://fuel.ignitionrobotics.org/1.0/an_org/models/a_model/materials/textures/diffuse1.png</diffuse>
              <normal>https://fuel.ignitionrobotics.org/1.0/an_org/models/a_model/materials/textures/normal1.png</normal>
              <size>10</size>
            </texture>
            <blend>
              <min_height>30</min_height>
              <fade_dist>10</fade_dist>
            </blend>
            <texture>
              <diffuse>https://fuel.ignitionrobotics.org/1.0/an_org/models/a_model/materials/textures/diffuse2.png</diffuse>
              <normal>https://fuel.ignitionrobotics.org/1.0/an_org/models/a_model/materials/textures/normal2.png</normal>
              <size>20</size>
            </texture>
          </heightmap>
        </geometry>
      </visual>

      <collision name="polyline_col">
        <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>0.5</height>
          </polyline>
          <polyline>
            <point>-0.3 -0.3</point>
            <point>-0.3 0.3</point>
            <point>0.3 0.3</point>
            <point>0 0</point>
            <height>0.3</height>
          </polyline>
        </geometry>
      </collision>

      <visual name="polyline_vis">
        <geometry>
          <polyline>
            <point>-0.2 -0.2</point>
            <point>-0.2 0.2</point>
            <point>0.2 0.2</point>
            <height>1</height>
          </polyline>
        </geometry>
      </visual>

      <visual name="sphere_vis_transparency">
        <transparency>0.22</transparency>
        <visibility_flags>1</visibility_flags>
        <geometry>
          <sphere>
            <radius>0.5</radius>
          </sphere>
        </geometry>
      </visual>

      <visual name="sphere_vis_laser_retro">
        <laser_retro>1150</laser_retro>
        <geometry>
          <sphere>
            <radius>0.5</radius>
          </sphere>
        </geometry>
      </visual>
    </link>
  </model>
</sdf>
