86 lines
2.1 KiB
XML
86 lines
2.1 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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<model name ='model'>
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<pose>0 0 1 0 0 0</pose>
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<link name='baselink'>
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<inertial>
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<mass>1.0</mass>
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<inertia>
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<ixx>0.0016667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.0016667</iyy>
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<iyz>0</iyz>
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<izz>0.0016667</izz>
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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><size>0.1 .1 0.1</size></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><size>0.1 0.1 0.1</size></box>
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</geometry>"
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</visual>
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</link>
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<link name='link'>
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<inertial>
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<mass>1.0</mass>
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<inertia>
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<ixx>8.33416667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.00166667</iyy>
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<iyz>0</iyz>
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<izz>8.33416667</izz>
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</inertia>
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</inertial>
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<pose>0 5 0 0 0 0</pose>
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<collision name='contact_collision'>
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<geometry>
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<box><size>0.1 10 0.1</size></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><size>0.1 10 0.1</size></box>
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</geometry>"
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</visual>
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<sensor name='altimeter' type='altimeter'>
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<pose>0 5 0 0 0 0</pose>
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<always_on>true</always_on>
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<altimeter>
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</altimeter>
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</sensor>
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</link>
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<joint name="joint" type="revolute">
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<pose>0 -5 0 0 0 0</pose>
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<parent>baselink</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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<joint name="joint_drop" type="prismatic">
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<pose>0 -5 0 0 0 0</pose>
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<parent>world</parent>
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<child>baselink</child>
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<axis>
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<xyz>0 0 1</xyz>
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<dynamics>
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<damping>100</damping>
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</dynamics>
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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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