ppovb5fc7/gazebo/test/worlds/pendulum_axes.world

<?xml version="1.0" ?>
<!-- this file was generated using embedded ruby -->

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