-
jenniferdavid authored23533d86
model-1_4.sdf 59.41 KiB
<?xml version='1.0'?>
<sdf version="1.4">
<model name="fire_hose_long">
<pose>0 0 10 0.708 0 0</pose>
<joint name="joint_01_world" type="revolute">
<child>nozzle</child>
<parent>world</parent>
<axis>
<xyz>0.500000 1.000000 0.200000</xyz>
<dynamics>
<damping>10.000000</damping>
<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="nozzle">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="nozzle_collision">
<pose>-0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<mesh>
<scale>0.002540 0.002540 0.002540</scale>
<uri>model://fire_hose_long/meshes/nozzle.stl</uri>
</mesh>
</geometry>
</collision>
<visual name="nozzle_vis">
<pose>-0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<mesh>
<scale>0.002540 0.002540 0.002540</scale>
<uri>model://fire_hose_long/meshes/nozzle.stl</uri>
</mesh>
</geometry>
</visual>
<velocity_decay />
</link>
<link name="sphere_01">
<gravity>false</gravity>
<pose>0.100000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="sphere_01_collision">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<sphere>
<radius>0.025000</radius>
</sphere> </geometry>
</collision>
<visual name="sphere_01_vis">
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<geometry>
<sphere>
<radius>0.025000</radius>
</sphere>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_01_1" type="revolute">
<child>sphere_01</child>
<parent>nozzle</parent>
<axis>
<xyz>0.000000 0.000000 1.000000</xyz>
<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
<damping>10.000000</damping>
<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="link_01">
<gravity>false</gravity>
<pose>0.100000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="link_01_collision">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
<length>0.200000</length>
<radius>0.025000</radius>
</cylinder>
</geometry>
</collision>
<visual name="link_01_vis">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
<length>0.200000</length>
<radius>0.025000</radius>
</cylinder>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_01_2" type="revolute">
<child>link_01</child>
<parent>sphere_01</parent>
<axis>
<xyz>0.000000 1.000000 0.000000</xyz>
<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper> </limit>
<dynamics>
<damping>10.000000</damping>
<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="sphere_02">
<gravity>false</gravity>
<pose>0.300000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="sphere_02_collision">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<sphere>
<radius>0.025000</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_02_vis">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<sphere>
<radius>0.025000</radius>
</sphere>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_02_1" type="revolute">
<child>sphere_02</child>
<parent>link_01</parent>
<axis>
<xyz>0.000000 0.000000 1.000000</xyz>
<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
<damping>10.000000</damping>
<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="link_02">
<gravity>false</gravity>
<pose>0.300000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial> <collision name="link_02_collision">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
<length>0.200000</length>
<radius>0.025000</radius>
</cylinder>
</geometry>
</collision>
<visual name="link_02_vis">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
<length>0.200000</length>
<radius>0.025000</radius>
</cylinder>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_02_2" type="revolute">
<child>link_02</child>
<parent>sphere_02</parent>
<axis>
<xyz>0.000000 1.000000 0.000000</xyz>
<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
<damping>10.000000</damping>
<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="sphere_03">
<gravity>false</gravity>
<pose>0.500000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="sphere_03_collision">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<sphere>
<radius>0.025000</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_03_vis">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<sphere>
<radius>0.025000</radius>
</sphere>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_03_1" type="revolute">
<child>sphere_03</child> <parent>link_02</parent>
<axis>
<xyz>0.000000 0.000000 1.000000</xyz>
<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
<damping>10.000000</damping>
<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="link_03">
<gravity>false</gravity>
<pose>0.500000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="link_03_collision">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
<length>0.200000</length>
<radius>0.025000</radius>
</cylinder>
</geometry>
</collision>
<visual name="link_03_vis">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
<length>0.200000</length>
<radius>0.025000</radius>
</cylinder>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_03_2" type="revolute">
<child>link_03</child>
<parent>sphere_03</parent>
<axis>
<xyz>0.000000 1.000000 0.000000</xyz>
<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
<damping>10.000000</damping>
<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="sphere_04">
<gravity>false</gravity>
<pose>0.700000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
<inertia> <ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="sphere_04_collision">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<sphere>
<radius>0.025000</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_04_vis">
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<geometry>
<sphere>
<radius>0.025000</radius>
</sphere>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_04_1" type="revolute">
<child>sphere_04</child>
<parent>link_03</parent>
<axis>
<xyz>0.000000 0.000000 1.000000</xyz>
<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
<damping>10.000000</damping>
<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="link_04">
<gravity>false</gravity>
<pose>0.700000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="link_04_collision">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
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<radius>0.025000</radius>
</cylinder>
</geometry>
</collision>
<visual name="link_04_vis">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
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</cylinder>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_04_2" type="revolute">
<child>link_04</child>
<parent>sphere_04</parent>
<axis>
<xyz>0.000000 1.000000 0.000000</xyz>
<limit>
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<upper>0.700000</upper>
</limit>
<dynamics>
<damping>10.000000</damping>
<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="sphere_05">
<gravity>false</gravity>
<pose>0.900000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
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<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="sphere_05_collision">
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<geometry>
<sphere>
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</sphere>
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</collision>
<visual name="sphere_05_vis">
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<geometry>
<sphere>
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</sphere>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_05_1" type="revolute">
<child>sphere_05</child>
<parent>link_04</parent>
<axis>
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<limit>
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<upper>0.700000</upper>
</limit>
<dynamics>
<damping>10.000000</damping>
<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="link_05"> <gravity>false</gravity>
<pose>0.900000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="link_05_collision">
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<geometry>
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</geometry>
</collision>
<visual name="link_05_vis">
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<geometry>
<cylinder>
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</cylinder>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_05_2" type="revolute">
<child>link_05</child>
<parent>sphere_05</parent>
<axis>
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<limit>
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<upper>0.700000</upper>
</limit>
<dynamics>
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<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="sphere_06">
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<pose>1.100000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
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<mass>0.100000</mass>
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<ixx>0.010000</ixx>
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<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
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</inertial>
<collision name="sphere_06_collision">
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<sphere>
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</sphere> </geometry>
</collision>
<visual name="sphere_06_vis">
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<geometry>
<sphere>
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</sphere>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_06_1" type="revolute">
<child>sphere_06</child>
<parent>link_05</parent>
<axis>
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<upper>0.700000</upper>
</limit>
<dynamics>
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<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="link_06">
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<inertial>
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<iyz>0.000000</iyz>
<izz>0.010000</izz>
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<collision name="link_06_collision">
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<geometry>
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<visual name="link_06_vis">
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</cylinder>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_06_2" type="revolute">
<child>link_06</child>
<parent>sphere_06</parent>
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</joint>
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<izz>0.010000</izz>
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</visual>
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<joint name="joint_07_1" type="revolute">
<child>sphere_07</child>
<parent>link_06</parent>
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</limit>
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<link name="link_07">
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<izz>0.010000</izz>
</inertia>
</inertial> <collision name="link_07_collision">
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<geometry>
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<joint name="joint_07_2" type="revolute">
<child>link_07</child>
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<link name="sphere_08">
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<izz>0.010000</izz>
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<geometry>
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</link>
<joint name="joint_08_1" type="revolute">
<child>sphere_08</child> <parent>link_07</parent>
<axis>
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<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
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<friction>0.000000</friction>
</dynamics>
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</joint>
<link name="link_08">
<gravity>false</gravity>
<pose>1.500000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
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<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="link_08_collision">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
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<radius>0.025000</radius>
</cylinder>
</geometry>
</collision>
<visual name="link_08_vis">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
<length>0.200000</length>
<radius>0.025000</radius>
</cylinder>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_08_2" type="revolute">
<child>link_08</child>
<parent>sphere_08</parent>
<axis>
<xyz>0.000000 1.000000 0.000000</xyz>
<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
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<friction>0.000000</friction>
</dynamics>
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</joint>
<link name="sphere_09">
<gravity>false</gravity>
<pose>1.700000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
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<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="sphere_09_collision">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<sphere>
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</sphere>
</geometry>
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<visual name="sphere_09_vis">
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<geometry>
<sphere>
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</sphere>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_09_1" type="revolute">
<child>sphere_09</child>
<parent>link_08</parent>
<axis>
<xyz>0.000000 0.000000 1.000000</xyz>
<limit>
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<upper>0.700000</upper>
</limit>
<dynamics>
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<friction>0.000000</friction>
</dynamics>
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</joint>
<link name="link_09">
<gravity>false</gravity>
<pose>1.700000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
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<mass>0.100000</mass>
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<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="link_09_collision">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
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<radius>0.025000</radius>
</cylinder>
</geometry>
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<visual name="link_09_vis">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
<length>0.200000</length> <radius>0.025000</radius>
</cylinder>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_09_2" type="revolute">
<child>link_09</child>
<parent>sphere_09</parent>
<axis>
<xyz>0.000000 1.000000 0.000000</xyz>
<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
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<friction>0.000000</friction>
</dynamics>
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</joint>
<link name="sphere_10">
<gravity>false</gravity>
<pose>1.900000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="sphere_10_collision">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<sphere>
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</sphere>
</geometry>
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<visual name="sphere_10_vis">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<sphere>
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</sphere>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_10_1" type="revolute">
<child>sphere_10</child>
<parent>link_09</parent>
<axis>
<xyz>0.000000 0.000000 1.000000</xyz>
<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
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<friction>0.000000</friction>
</dynamics>
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</joint>
<link name="link_10"> <gravity>false</gravity>
<pose>1.900000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
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<mass>0.100000</mass>
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<ixx>0.010000</ixx>
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<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
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</inertial>
<collision name="link_10_collision">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
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<radius>0.025000</radius>
</cylinder>
</geometry>
</collision>
<visual name="link_10_vis">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
<length>0.200000</length>
<radius>0.025000</radius>
</cylinder>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_10_2" type="revolute">
<child>link_10</child>
<parent>sphere_10</parent>
<axis>
<xyz>0.000000 1.000000 0.000000</xyz>
<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
<damping>10.000000</damping>
<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="sphere_11">
<gravity>false</gravity>
<pose>2.100000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="sphere_11_collision">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<sphere>
<radius>0.025000</radius>
</sphere> </geometry>
</collision>
<visual name="sphere_11_vis">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<sphere>
<radius>0.025000</radius>
</sphere>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_11_1" type="revolute">
<child>sphere_11</child>
<parent>link_10</parent>
<axis>
<xyz>0.000000 0.000000 1.000000</xyz>
<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
<damping>10.000000</damping>
<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="link_11">
<gravity>false</gravity>
<pose>2.100000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="link_11_collision">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
<length>0.200000</length>
<radius>0.025000</radius>
</cylinder>
</geometry>
</collision>
<visual name="link_11_vis">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
<length>0.200000</length>
<radius>0.025000</radius>
</cylinder>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_11_2" type="revolute">
<child>link_11</child>
<parent>sphere_11</parent>
<axis>
<xyz>0.000000 1.000000 0.000000</xyz>
<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper> </limit>
<dynamics>
<damping>10.000000</damping>
<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="sphere_12">
<gravity>false</gravity>
<pose>2.300000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="sphere_12_collision">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<sphere>
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</sphere>
</geometry>
</collision>
<visual name="sphere_12_vis">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<sphere>
<radius>0.025000</radius>
</sphere>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_12_1" type="revolute">
<child>sphere_12</child>
<parent>link_11</parent>
<axis>
<xyz>0.000000 0.000000 1.000000</xyz>
<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
<damping>10.000000</damping>
<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="link_12">
<gravity>false</gravity>
<pose>2.300000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial> <collision name="link_12_collision">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
<length>0.200000</length>
<radius>0.025000</radius>
</cylinder>
</geometry>
</collision>
<visual name="link_12_vis">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
<length>0.200000</length>
<radius>0.025000</radius>
</cylinder>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_12_2" type="revolute">
<child>link_12</child>
<parent>sphere_12</parent>
<axis>
<xyz>0.000000 1.000000 0.000000</xyz>
<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
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<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="sphere_13">
<gravity>false</gravity>
<pose>2.500000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
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</inertial>
<collision name="sphere_13_collision">
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<geometry>
<sphere>
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</sphere>
</geometry>
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<visual name="sphere_13_vis">
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<geometry>
<sphere>
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</sphere>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_13_1" type="revolute">
<child>sphere_13</child> <parent>link_12</parent>
<axis>
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<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
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<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="link_13">
<gravity>false</gravity>
<pose>2.500000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
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<mass>0.100000</mass>
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<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="link_13_collision">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
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<radius>0.025000</radius>
</cylinder>
</geometry>
</collision>
<visual name="link_13_vis">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
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<radius>0.025000</radius>
</cylinder>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_13_2" type="revolute">
<child>link_13</child>
<parent>sphere_13</parent>
<axis>
<xyz>0.000000 1.000000 0.000000</xyz>
<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
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<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
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<gravity>false</gravity>
<pose>2.700000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<mass>0.100000</mass>
<inertia> <ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="sphere_14_collision">
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<geometry>
<sphere>
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<visual name="sphere_14_vis">
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<geometry>
<sphere>
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</sphere>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_14_1" type="revolute">
<child>sphere_14</child>
<parent>link_13</parent>
<axis>
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<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
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<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="link_14">
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<inertial>
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<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="link_14_collision">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
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<radius>0.025000</radius>
</cylinder>
</geometry>
</collision>
<visual name="link_14_vis">
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<geometry>
<cylinder>
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</cylinder>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_14_2" type="revolute">
<child>link_14</child>
<parent>sphere_14</parent>
<axis>
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<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
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<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
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<pose>2.900000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
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<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="sphere_15_collision">
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<geometry>
<sphere>
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</sphere>
</geometry>
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<visual name="sphere_15_vis">
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<geometry>
<sphere>
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</sphere>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_15_1" type="revolute">
<child>sphere_15</child>
<parent>link_14</parent>
<axis>
<xyz>0.000000 0.000000 1.000000</xyz>
<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
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<friction>0.000000</friction>
</dynamics>
</axis>
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<link name="link_15"> <gravity>false</gravity>
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<inertial>
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<mass>0.100000</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="link_15_collision">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
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<radius>0.025000</radius>
</cylinder>
</geometry>
</collision>
<visual name="link_15_vis">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
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<radius>0.025000</radius>
</cylinder>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_15_2" type="revolute">
<child>link_15</child>
<parent>sphere_15</parent>
<axis>
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<limit>
<lower>-0.700000</lower>
<upper>0.700000</upper>
</limit>
<dynamics>
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<friction>0.000000</friction>
</dynamics>
</axis>
</joint>
<link name="sphere_16">
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<mass>0.100000</mass>
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<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="sphere_16_collision">
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<geometry>
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<parent>sphere_16</parent>
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<iyz>0.000000</iyz>
<izz>0.010000</izz>
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</inertial> <collision name="link_17_collision">
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
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<visual name="link_17_vis">
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<child>link_17</child>
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<iyz>0.000000</iyz>
<izz>0.010000</izz>
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</sphere>
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<sphere>
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</sphere>
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</link>
<joint name="joint_18_1" type="revolute">
<child>sphere_18</child> <parent>link_17</parent>
<axis>
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<upper>0.700000</upper>
</limit>
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</dynamics>
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<iyz>0.000000</iyz>
<izz>0.010000</izz>
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</inertial>
<collision name="link_18_collision">
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<geometry>
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</geometry>
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<visual name="link_18_vis">
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<geometry>
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<radius>0.025000</radius>
</cylinder>
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</link>
<joint name="joint_18_2" type="revolute">
<child>link_18</child>
<parent>sphere_18</parent>
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</limit>
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</dynamics>
</axis>
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<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
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</inertial>
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</sphere>
</geometry>
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</link>
<joint name="joint_19_1" type="revolute">
<child>sphere_19</child>
<parent>link_18</parent>
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</dynamics>
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<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
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</inertial>
<collision name="link_19_collision">
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<geometry>
<cylinder>
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<radius>0.025000</radius>
</cylinder>
</geometry>
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<visual name="link_19_vis">
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<geometry>
<cylinder>
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</cylinder>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_19_2" type="revolute">
<child>link_19</child>
<parent>sphere_19</parent>
<axis>
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</limit>
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</dynamics>
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<iyz>0.000000</iyz>
<izz>0.010000</izz>
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<sphere>
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</sphere>
</geometry>
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</link>
<joint name="joint_20_1" type="revolute">
<child>sphere_20</child>
<parent>link_19</parent>
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<limit>
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<upper>0.700000</upper>
</limit>
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</dynamics>
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<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="coupling_collision">
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<geometry>
<mesh>
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<uri>model://fire_hose_long/meshes/coupling.stl</uri>
</mesh>
</geometry>
</collision>
<visual name="coupling_vis">
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<geometry>
<mesh>
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<uri>model://fire_hose_long/meshes/coupling.stl</uri>
</mesh>
</geometry>
</visual>
<velocity_decay />
</link>
<joint name="joint_20_2" type="revolute">
<child>coupling</child>
<parent>sphere_20</parent>
<axis>
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</limit>
<dynamics>
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</dynamics>
</axis>
</joint>
</model>
</sdf>