178 lines
5.1 KiB
XML
178 lines
5.1 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<physics type="ode">
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<gravity>0 0 -9.8</gravity>
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</physics>
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<include>
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<uri>model://sun</uri>
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</include>
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<include>
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<uri>model://ground_plane</uri>
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</include>
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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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<link name="imu_link">
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>0.15</mass>
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<inertia>
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<ixx>0.00001</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.00002</iyy>
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<iyz>0</iyz>
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<izz>0.00002</izz>
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</inertia>
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</inertial>
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<sensor name="imu_sensor" type="imu">
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<pose>0 0 0 3.141593 0 0</pose>
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<always_on>0</always_on>
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<update_rate>1000.0</update_rate>
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</sensor>
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</link>
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<joint name="imu_joint" type="revolute">
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<child>model_01::model_02::model_03::imu_link</child>
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<parent>model_01::model_02::model_03::link_03</parent>
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<axis>
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<xyz>0 0 1</xyz>
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</axis>
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</joint>
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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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</world>
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</sdf>
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