85 lines
2.0 KiB
XML
85 lines
2.0 KiB
XML
<?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="revolute_model">
|
|
<pose>0 0 0.5 0 0 0</pose>
|
|
<link name="body1">
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<mass>1.0</mass>
|
|
</inertial>
|
|
<collision name="geom">
|
|
<geometry>
|
|
<box>
|
|
<size>1 1 1</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<box>
|
|
<size>1 1 1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>Gazebo/WoodPallet</script>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<link name="body2">
|
|
<pose>0 0.5 2.0 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
<mass>1.0</mass>
|
|
</inertial>
|
|
<collision name="geom">
|
|
<geometry>
|
|
<box>
|
|
<size>1 1 1</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<box>
|
|
<size>1 1 1</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<script>Gazebo/WoodPallet</script>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint type="revolute" name="revolute_joint">
|
|
<pose>0 0 1 0 0 0</pose>
|
|
<parent>body2</parent>
|
|
<child>body1</child>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
</model>
|
|
</world>
|
|
</sdf>
|