ppovb5fc7/gazebo/worlds/nested_model.world

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2019-03-04 17:11:56 +08:00
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<physics type="ode">
<gravity>0 0 -9.8</gravity>
</physics>
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://ground_plane</uri>
</include>
<model name="model_00">
<pose>0 0 0.5 0 0 0</pose>
<link name="link_00">
<pose>0 0 0 0 0 0</pose>
<collision name="collision_00">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>
<visual name="visual_00">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
<model name="model_01">
<pose>1 0 0.0 0 0 0</pose>
<link name="link_01">
<pose>0.25 0 0.0 0 0 0</pose>
<collision name="collision_01">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name="visual_01">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
</model>
<joint name="joint_00" type="revolute">
<parent>link_00</parent>
<child>model_01::link_01</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
</axis>
</joint>
</model>
</world>
</sdf>