138 lines
3.7 KiB
XML
138 lines
3.7 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="model_00">
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<pose>0 0 0.5 0 0 0</pose>
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<link name="link_00">
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<pose>0.25 0 0 0 0 0</pose>
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<collision name="collision_00">
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<geometry>
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<sphere>
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<radius>0.5</radius>
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</sphere>
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</geometry>
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</collision>
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<visual name="visual_00">
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<geometry>
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<sphere>
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<radius>0.5</radius>
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</sphere>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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<model name="model_01">
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<pose>1.25 0 0.0 0 0 0</pose>
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<link name="link_01">
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<pose>0.25 0 0.0 0 0 0</pose>
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<collision name="collision_01">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual_01">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Red</name>
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</script>
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</material>
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</visual>
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</link>
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<model name="model_02">
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<pose>1.25 0 0.0 0 0 0</pose>
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<link name="link_02">
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<pose>0.25 0 0.0 0 0 0</pose>
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<collision name="collision_02">
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<geometry>
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<cylinder>
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<radius>0.5</radius>
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<length>1</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="visual_02">
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<geometry>
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<cylinder>
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<radius>0.5</radius>
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<length>1</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Green</name>
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</script>
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</material>
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</visual>
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</link>
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<model name="model_03">
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<pose>1.25 0 0.0 0 0 0</pose>
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<link name="link_03">
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<pose>0.25 0 0.0 0 0 0</pose>
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<collision name="collision_03">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual_03">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Blue</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</model>
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</model>
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<joint name="joint_00" type="revolute">
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<parent>link_00</parent>
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<child>model_01::link_01</child>
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<axis>
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<xyz>1.0 0.0 0.0</xyz>
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</axis>
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</joint>
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<joint name="joint_01" type="revolute">
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<parent>model_01::link_01</parent>
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<child>model_01::model_02::link_02</child>
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<axis>
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<xyz>1.0 0.0 0.0</xyz>
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</axis>
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</joint>
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<joint name="joint_02" type="revolute">
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<parent>model_01::model_02::link_02</parent>
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<child>model_01::model_02::model_03::link_03</child>
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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<axis>
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<xyz>1.0 0.0 0.0</xyz>
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</axis>
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</joint>
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</model>
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</sdf>
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