252 lines
6.9 KiB
Plaintext
252 lines
6.9 KiB
Plaintext
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<?xml version="1.0" ?>
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<!-- this file was generated using embedded ruby -->
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<sdf version="1.5">
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<world name="default">
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<include>
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<uri>model://sun</uri>
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</include>
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<model name='pendulum_longZ_Xaxis'>
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<pose>0.21000000000000002 0 0.18000000000000002 0.3141592653589793 0.0 0.0</pose>
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<link name="link">
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<pose>0 0 -0.05 0 0 0</pose>
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<inertial>
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<mass>0.027000000000000003</mass>
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<inertia>
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<ixx>2.2725000000000007e-05</ixx>
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<iyy>2.2725000000000007e-05</iyy>
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<izz>4.500000000000001e-07</izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.01 0.01 0.1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.01 0.01 0.1</size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name="joint" type="revolute">
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<pose>0 0 0.05 0 0 0</pose>
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<parent>world</parent>
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<child>link</child>
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<axis>
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<xyz>1 0 0</xyz>
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</axis>
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</joint>
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</model>
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<model name='pendulum_longZ_Yaxis'>
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<pose>0.42000000000000004 0 0.18000000000000002 0.0 0.3141592653589793 0.0</pose>
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<link name="link">
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<pose>0 0 -0.05 0 0 0</pose>
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<inertial>
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<mass>0.027000000000000003</mass>
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<inertia>
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<ixx>2.2725000000000007e-05</ixx>
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<iyy>2.2725000000000007e-05</iyy>
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<izz>4.500000000000001e-07</izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.01 0.01 0.1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.01 0.01 0.1</size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name="joint" type="revolute">
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<pose>0 0 0.05 0 0 0</pose>
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<parent>world</parent>
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<child>link</child>
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<axis>
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<xyz>0 1 0</xyz>
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</axis>
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</joint>
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</model>
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<model name='pendulum_longX_Xaxis'>
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<pose>0.6300000000000001 0 0.18000000000000002 0.3141592653589793 0.0 0.0</pose>
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<link name="link">
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<pose>0.05 0 0 0 1.5707963267948966 0</pose>
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<inertial>
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<mass>0.027000000000000003</mass>
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<inertia>
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<ixx>4.500000000000001e-07</ixx>
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<iyy>2.2725000000000007e-05</iyy>
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<izz>2.2725000000000007e-05</izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.1 0.01 0.01</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.1 0.01 0.01</size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name="joint" type="revolute">
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<pose>-0.05 0 0 0 -1.5707963267948966 0</pose>
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<parent>world</parent>
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<child>link</child>
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<axis>
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<xyz>1 0 0</xyz>
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</axis>
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</joint>
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</model>
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<model name='pendulum_longX_Yaxis'>
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<pose>0.8400000000000001 0 0.18000000000000002 0.0 0.3141592653589793 0.0</pose>
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<link name="link">
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<pose>0.05 0 0 0 1.5707963267948966 0</pose>
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<inertial>
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<mass>0.027000000000000003</mass>
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<inertia>
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<ixx>4.500000000000001e-07</ixx>
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<iyy>2.2725000000000007e-05</iyy>
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<izz>2.2725000000000007e-05</izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.1 0.01 0.01</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.1 0.01 0.01</size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name="joint" type="revolute">
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<pose>-0.05 0 0 0 -1.5707963267948966 0</pose>
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<parent>world</parent>
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<child>link</child>
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<axis>
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<xyz>0 1 0</xyz>
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</axis>
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</joint>
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</model>
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<model name='pendulum_longY_Xaxis'>
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<pose>1.05 0 0.18000000000000002 0.3141592653589793 0.0 0.0</pose>
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<link name="link">
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<pose>0 -0.05 0 1.5707963267948966 0 0</pose>
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<inertial>
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<mass>0.027000000000000003</mass>
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<inertia>
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<ixx>2.2725000000000007e-05</ixx>
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<iyy>4.500000000000001e-07</iyy>
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<izz>2.2725000000000007e-05</izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.01 0.1 0.01</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.01 0.1 0.01</size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name="joint" type="revolute">
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<pose>0 0.05 0 -1.5707963267948966 0 0</pose>
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<parent>world</parent>
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<child>link</child>
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<axis>
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<xyz>1 0 0</xyz>
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</axis>
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</joint>
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</model>
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<model name='pendulum_longY_Yaxis'>
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<pose>1.2600000000000002 0 0.18000000000000002 0.0 0.3141592653589793 0.0</pose>
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<link name="link">
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<pose>0 -0.05 0 1.5707963267948966 0 0</pose>
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<inertial>
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<mass>0.027000000000000003</mass>
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<inertia>
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<ixx>2.2725000000000007e-05</ixx>
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<iyy>4.500000000000001e-07</iyy>
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<izz>2.2725000000000007e-05</izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.01 0.1 0.01</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.01 0.1 0.01</size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name="joint" type="revolute">
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<pose>0 0.05 0 -1.5707963267948966 0 0</pose>
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<parent>world</parent>
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<child>link</child>
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<axis>
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<xyz>0 1 0</xyz>
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</axis>
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</joint>
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</model>
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</world>
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</sdf>
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