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
63
64
65
66
67
68
69
70
71
72
73
74
|
<?xml version='1.0'?>
<sdf version='1.7'>
<world name='default'>
<model name='ParentModel'>
<model name='M1'>
<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'>0 0 0 0 0 0</pose>
<visual name='V1'>
<pose relative_to='F2'>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>1.5707963267948966</radius>
</sphere>
</geometry>
</visual>
<collision name='C1'>
<pose relative_to='__model__'>0 0 0 0 0 0</pose>
<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'>0 0 0 0 0 0</pose>
<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>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>
<pose>10 0 0 0 -0 1.5708</pose>
</model>
</model>
</world>
</sdf>
|
