<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="shapes">
    <model name="box">
      <pose>0 0 0.5 0 0 0</pose>
      <link name="box_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>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="cylinder">
      <pose>0 -1.5 0.5 0 0 0</pose>
      <link name="cylinder_link">
        <inertial>
          <inertia>
            <ixx>0.1458</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.1458</iyy>
            <iyz>0</iyz>
            <izz>0.125</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <collision name="cylinder_collision">
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1.0</length>
            </cylinder>
          </geometry>
        </collision>

        <visual name="cylinder_visual">
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1.0</length>
            </cylinder>
          </geometry>
          <material>
            <ambient>0 1 0 1</ambient>
            <diffuse>0 1 0 1</diffuse>
            <specular>0 1 0 1</specular>
          </material>
        </visual>
      </link>
    </model>

    <model name="sphere">
      <pose>0 1.5 0.5 0 0 0</pose>
      <link name="sphere_link">
        <inertial>
          <inertia>
            <ixx>0.1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.1</iyy>
            <iyz>0</iyz>
            <izz>0.1</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <collision name="sphere_collision">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
        </collision>

        <visual name="sphere_visual">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <ambient>0 0 1 1</ambient>
            <diffuse>0 0 1 1</diffuse>
            <specular>0 0 1 1</specular>
          </material>
        </visual>
      </link>
    </model>

    <model name="capsule">
      <pose>0 -3.0 0.5 0 0 0</pose>
      <link name="capsule_link">
        <inertial>
          <inertia>
            <ixx>0.074154</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.074154</iyy>
            <iyz>0</iyz>
            <izz>0.018769</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <collision name="capsule_collision">
          <geometry>
            <capsule>
              <radius>0.2</radius>
              <length>0.6</length>
            </capsule>
          </geometry>
        </collision>
        <visual name="capsule_visual">
          <geometry>
            <capsule>
              <radius>0.2</radius>
              <length>0.6</length>
            </capsule>
          </geometry>
          <material>
            <ambient>1 1 0 1</ambient>
            <diffuse>1 1 0 1</diffuse>
            <specular>1 1 0 1</specular>
          </material>
        </visual>
      </link>
    </model>

    <model name="ellipsoid">
      <pose>0 3.0 0.5 0 0 0</pose>
      <link name="ellipsoid_link">
        <inertial>
          <inertia>
            <ixx>0.068</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.058</iyy>
            <iyz>0</iyz>
            <izz>0.026</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <collision name="ellipsoid_collision">
          <geometry>
            <ellipsoid>
              <radii>0.2 0.3 0.5</radii>
            </ellipsoid>
          </geometry>
        </collision>
        <visual name="ellipsoid_visual">
          <geometry>
            <ellipsoid>
              <radii>0.2 0.3 0.5</radii>
            </ellipsoid>
          </geometry>
          <material>
            <ambient>1 0 1 1</ambient>
            <diffuse>1 0 1 1</diffuse>
            <specular>1 0 1 1</specular>
          </material>
        </visual>
      </link>
    </model>
  </world>
</sdf>
