73 lines
1.9 KiB
XML
73 lines
1.9 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.4">
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<world name="default">
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<model name="model">
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<pose>0.0 0.0 10.1 0 0.0 0.0</pose>
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<link name="link_1">
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<inertial>
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<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
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<inertia>
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<ixx>1e-1</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>1e-1</iyy>
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<iyz>0.0</iyz>
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<izz>1e-1</izz>
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</inertia>
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<mass>10.0</mass>
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</inertial>
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<visual name="visual_cylinder">
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<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>10.0</length>
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</cylinder>
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</geometry>
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<material>
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<script>Gazebo/Green</script>
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</material>
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</visual>
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<collision name="collision_cylinder">
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<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
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<max_contacts>250</max_contacts>
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>10.0</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="visual_sphere">
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<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<material>
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<script>Gazebo/Red</script>
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</material>
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</visual>
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<collision name="collision_sphere">
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<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
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<geometry>
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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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</collision>
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</link>
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<joint name="joint" type="revolute">
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<parent>world</parent>
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<child>link_1</child>
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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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