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<?xml version="1.0" ?>
<sdf version="1.7">
<model name="test_model_with_frames">
<frame name="F1">
<pose>0 0 0 1.570796 0 0</pose>
</frame>
<frame name="F2">
<pose relative_to="F1">0 0 0 0 0.785398 0</pose>
</frame>
<link name="L1">
<pose relative_to="F1"/>
<visual name="V1">
<pose relative_to="F2"/>
<geometry>
<sphere>
<radius>1.5707963267948966</radius>
</sphere>
</geometry>
</visual>
<collision name="C1">
<pose relative_to="__model__"/>
<geometry>
<sphere>
<radius>0.78539816339744828</radius>
</sphere>
</geometry>
</collision>
</link>
<link name="L2">
<pose relative_to="F1">1 0 0 0 0 0</pose>
</link>
<link name="L3">
<pose relative_to="L2">0 1 0 0 0 0</pose>
</link>
<link name="L4">
<pose relative_to="__model__">0 0 1 0 0 0</pose>
</link>
<joint name="J1" type="universal">
<pose relative_to="L1"/>
<parent>L1</parent>
<child>L2</child>
<axis>
<xyz expressed_in="F2">0 0 1</xyz>
</axis>
<axis2>
<xyz expressed_in="F2">1 0 0</xyz>
</axis2>
</joint>
<joint name="J2" type="revolute">
<pose relative_to="">0 0 1 0 0 0</pose>
<parent>L2</parent>
<child>L3</child>
<axis>
<xyz expressed_in="__model__">0 0 1</xyz>
</axis>
</joint>
<joint name="J3" type="fixed">
<pose relative_to="__model__">1 0 1 0 0 0</pose>
<parent>L3</parent>
<child>L4</child>
</joint>
<model name="M2">
<pose relative_to="F1">1 0 0 0 0 0</pose>
<link name="L5">
<pose>1 0 0 0 0 0</pose>
</link>
</model>
</model>
</sdf>
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