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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="simple_joint_test">
<pose>10 10 2 0 0 0</pose>
<link name="base">
<inertial>
<mass>100</mass>
</inertial>
<visual name="visual">
<pose>0 0 0 -1.57 0 0</pose>
<geometry>
<cylinder>
<radius>0.1</radius>
<length>0.2</length>
</cylinder>
</geometry>
</visual>
</link>
<link name="bar">
<pose>0 0 -1 0 0 0</pose>
<inertial>
<mass>1</mass>
</inertial>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
</link>
<joint name="j0" type="fixed">
<parent>world</parent>
<child>base</child>
</joint>
<joint name="j1" type="revolute">
<pose>0 0 1 0 0 0</pose>
<parent>base</parent>
<child>bar</child>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
</model>
</sdf>
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