<?xml version="1.0"?>
<sdf xmlns:drake="http://drake.mit.edu" version="1.8">
  <!-- This adds different primitive shapes and loads a YCB mustard bottle to
       the world as an example scene for testing purposes.  The goal is to
       exhaust different functionalities of rendering color, depth, and label
       images via a purposely designed scene with various rendering settings,
       e.g., a colored and textured version of each shape are added (if it is
       supported). -->
  <!-- TODO(zachfang): We also need to add Mesh, Convex, and HalfSpace. -->
  <model name="example_scene">
    <!-- Add box primitives. -->
    <link name="rgba_box">
      <pose>0.4 -0.25 0 0 0 0</pose>
      <visual name="rgba_box_visual">
        <geometry>
          <box>
            <size>0.1 0.075 0.05</size>
          </box>
        </geometry>
        <material>
          <diffuse>1.0 0.25 0.25 1.0</diffuse>
        </material>
      </visual>
    </link>
    <link name="textured_box">
      <pose>0.4 0.25 0 0 0 0</pose>
      <visual name="textured_box_visual">
        <geometry>
          <box>
            <size>0.1 0.075 0.05</size>
          </box>
        </geometry>
        <material>
          <drake:diffuse_map>4_color_texture.png</drake:diffuse_map>
        </material>
      </visual>
    </link>

    <!-- Add capsule primitives. -->
    <link name="rgba_capsule">
      <pose>0.25 -0.25 0 0 0 0</pose>
      <visual name="rgba_capsule_visual">
        <geometry>
          <capsule>
            <radius>0.05</radius>
            <length>0.1</length>
          </capsule>
        </geometry>
        <material>
          <diffuse>1.0 1.0 0.25 1.0</diffuse>
        </material>
      </visual>
    </link>
    <link name="textured_capsule">
      <pose>0.25 0.25 0 0 0 0</pose>
      <visual name="textured_capsule_visual">
        <geometry>
          <capsule>
            <radius>0.05</radius>
            <length>0.1</length>
          </capsule>
        </geometry>
        <material>
          <drake:diffuse_map>4_color_texture.png</drake:diffuse_map>
        </material>
      </visual>
    </link>

    <!-- Add cylinder primitives. -->
    <link name="rgba_cylinder">
      <pose>0.1 -0.25 0 0 0 0</pose>
      <visual name="rgba_cylinder_visual">
        <geometry>
          <cylinder>
            <radius>0.05</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
        <material>
          <diffuse>0.25 1.0 0.25 1.0</diffuse>
        </material>
      </visual>
    </link>
    <link name="textured_cylinder">
      <pose>0.1 0.25 0 0 0 0</pose>
      <visual name="textured_cylinder_visual">
        <geometry>
          <cylinder>
            <radius>0.05</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
        <material>
          <drake:diffuse_map>4_color_texture.png</drake:diffuse_map>
        </material>
      </visual>
    </link>

    <!-- Add ellipsoid primitives. -->
    <link name="rgba_ellipsoid">
      <pose>-0.05 -0.25 0 0 0 0</pose>
      <visual name="rgba_ellipsoid_visual">
        <geometry>
          <ellipsoid>
            <radii>0.05 0.025 0.0375</radii>
          </ellipsoid>
        </geometry>
        <material>
          <diffuse>0.25 1.0 1.0 1.0</diffuse>
        </material>
      </visual>
    </link>
    <link name="textured_ellipsoid">
      <pose>-0.05 0.25 0 0 0 0</pose>
      <visual name="textured_ellipsoid_visual">
        <geometry>
          <ellipsoid>
            <radii>0.05 0.025 0.0375</radii>
          </ellipsoid>
        </geometry>
        <material>
          <drake:diffuse_map>4_color_texture.png</drake:diffuse_map>
        </material>
      </visual>
    </link>

    <!-- Add sphere primitives. -->
    <link name="rgba_sphere">
      <pose>-0.2 -0.25 0 0 0 0</pose>
      <visual name="rgba_sphere_visual">
        <geometry>
          <sphere>
            <radius>0.05</radius>
          </sphere>
        </geometry>
        <material>
          <diffuse>0.25 0.25 1.0 1.0</diffuse>
        </material>
      </visual>
    </link>
    <link name="textured_sphere">
      <pose>-0.2 0.25 0 0 0 0</pose>
      <visual name="textured_sphere_visual">
        <geometry>
          <sphere>
            <radius>0.05</radius>
          </sphere>
        </geometry>
        <material>
          <drake:diffuse_map>4_color_texture.png</drake:diffuse_map>
        </material>
      </visual>
    </link>

    <!-- Add a YCB mustard bottle. -->
    <include>
      <uri>package://drake/geometry/render_gltf_client/test/006_mustard_bottle.sdf</uri>
      <name>mustard_bottle</name>
      <pose>0 0 0 0 0 0</pose>
    </include>
  </model>
</sdf>
