<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>
    <model name="pressure_sensor_test">
      <link name="base">
        <pose>0 0 0.012 0 0 0</pose>
        <collision name="base_collision">
          <geometry>
            <box>
              <size>1 1 0.2</size>
            </box>
          </geometry>
        </collision>
        <visual name="base_visual">
          <geometry>
            <box>
              <size>1 1 0.2</size>
            </box>
          </geometry>
          <transparency>0.5</transparency>
        </visual>
        <collision name="pressure_pad_1">
          <pose>0.45 0.45 -0.1 0 0 0</pose>
          <geometry>
            <box>
              <size>0.1 0.1 0.02</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode>
                <kp>100000</kp>
                <kd>1</kd>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <collision name="pressure_pad_2">
          <pose>0.45 -0.45 -0.1 0 0 0</pose>
          <geometry>
            <box>
              <size>0.1 0.1 0.02</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode>
                <kp>100000</kp>
                <kd>1</kd>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <collision name="pressure_pad_3">
          <pose>-0.45 0.45 -0.1 0 0 0</pose>
          <geometry>
            <box>
              <size>0.05 0.05 0.02</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode>
                <kp>100000</kp>
                <kd>1</kd>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <collision name="pressure_pad_4">
          <pose>-0.45 -0.45 -0.1 0 0 0</pose>
          <geometry>
            <box>
              <size>0.05 0.05 0.02</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <ode>
                <kp>100000</kp>
                <kd>1</kd>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="pressure_pad_1">
          <pose>0.45 0.45 -0.1 0 0 0</pose>
          <geometry>
            <box>
              <size>0.1 0.1 0.02</size>
            </box>
          </geometry>
        </visual>
        <visual name="pressure_pad_2">
          <pose>0.45 -0.45 -0.1 0 0 0</pose>
          <geometry>
            <box>
              <size>0.1 0.1 0.02</size>
            </box>
          </geometry>
        </visual>
        <visual name="pressure_pad_3">
          <pose>-0.45 0.45 -0.1 0 0 0</pose>
          <geometry>
            <box>
              <size>0.05 0.05 0.02</size>
            </box>
          </geometry>
        </visual>
        <visual name="pressure_pad_4">
          <pose>-0.45 -0.45 -0.1 0 0 0</pose>
          <geometry>
            <box>
              <size>0.05 0.05 0.02</size>
            </box>
          </geometry>
        </visual>
        <sensor name="my_contact" type="contact">
          <contact>
            <collision>pressure_pad_1</collision>
            <collision>pressure_pad_2</collision>
            <collision>pressure_pad_3</collision>
            <collision>pressure_pad_4</collision>
          </contact>
          <plugin name="my_plugin" filename="libPressurePlugin.so" />
        </sensor>
      </link>
    </model>
  </world>
</sdf>
