# Revision history [back]

### How to set the visual and collision at ones using sdf to use the same geometry and pose

Hi

I like to define the visual and collision apparans of a link at ones. Is there a way to define variables? Or is there a way to say visual == collision? The example shows a link which has the same collision and visual dimensions is it possible to write that shorter:

<link name='Wall_01'>
<pose>0 0 0 0 0 0</pose>
<collision name='collision_01'>
<pose>0 0.05 1 0 -0 0</pose>
<geometry>
<box>
<size>5 0.1 2</size>
</box>
</geometry>
</collision>
<visual name='visual_01'>
<pose>0 0.05 1 0 -0 0</pose>
<geometry>
<box>
<size>5 0.1 2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>


Thanks

### How to set the visual and collision at ones using sdf to use the same geometry and pose

Hi

I like to define the visual and collision apparans of a link at ones. ones.
Is there a way to define variables? variables?
Or is there a way to say visual == collision? collision?
The example shows a link which has the same collision and visual dimensions is it possible to write that shorter:

<link name='Wall_01'>
<pose>0 0 0 0 0 0</pose>
<collision name='collision_01'>
<pose>0 0.05 1 0 -0 0</pose>
<geometry>
<box>
<size>5 0.1 2</size>
</box>
</geometry>
</collision>
<visual name='visual_01'>
<pose>0 0.05 1 0 -0 0</pose>
<geometry>
<box>
<size>5 0.1 2</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>