1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
|
<sdf version="1.5">
<world name='default'>
<gravity>0 0 0</gravity>
<physics type="dart">
<gravity>0.0 0.0 0</gravity>
<real_time_update_rate>1000.000000</real_time_update_rate>
<max_step_size>0.001000</max_step_size>
</physics>
<model name="M">
<link name="link1">
<pose>0 0 2 0 0 0</pose>
<inertial>
<mass>1.0</mass>
<inertia>
<ixx>1.0</ixx>
<iyy>1.0</iyy>
<izz>1.0</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<visual name="v1">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</visual>
<visual name='v2'>
<pose>0 0 -2 0 0 0</pose>
<geometry><sphere><radius>0.1</radius></sphere></geometry>
</visual>
</link>
<joint name="revJoint" type="revolute">
<pose>0 0 2 0 0 0</pose>
<parent>link1</parent>
<child>link2</child>
<axis>
<xyz>1 0 0</xyz>
</axis>
</joint>
<link name="link2">
<pose>0 0 -2 0 0 0</pose>
<inertial>
<mass>1.0</mass>
<inertia>
<ixx>1.0</ixx>
<iyy>1.0</iyy>
<izz>1.0</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<visual name='v1'>
<geometry><box><size>1 1 1</size></box></geometry>
</visual>
</link>
</model>
</world>
</sdf>
|
