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jenniferdavid authored23533d86
model_1link.sdf 8.51 KiB
<sdf version="1.3">
<model name="fire_hose_long">
<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>
<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_09_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_09_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>
<link name="link_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>
<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_09_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_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>-1.570800</lower>
<upper>1.570800</upper>
</limit>
<dynamics />
</axis>
</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>
<radius>0.025000</radius>
</sphere>
</geometry>
</collision>
<visual name="sphere_10_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_10_1" type="revolute">
<child>sphere_10</child>
<parent>link_09</parent>
<axis>
<xyz>0.000000 0.000000 1.000000</xyz>
<limit>
<lower>-1.570800</lower>
<upper>1.570800</upper>
</limit>
<dynamics />
</axis>
</joint>
<link name="coupling_base">
<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='coupling_collision'>
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<mesh>
<scale>0.001000 0.001000 0.001000</scale>
<uri>model://fire_hose_long/meshes/coupling.stl</uri>
</mesh>
</geometry>
</collision>
-->
<velocity_decay />
</link>
<joint name="joint_20_2" type="revolute">
<child>coupling_base</child>
<parent>sphere_10</parent>
<axis>
<xyz>0.000000 1.000000 0.000000</xyz>
<limit>
<lower>-1.570800</lower>
<upper>1.570800</upper>
</limit>
<dynamics />
</axis>
</joint>
<link name="coupling">
<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>
<visual name="coupling_mesh_visual">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<mesh>
<scale>0.001000 0.001000 0.001000</scale>
<uri>model://fire_hose_long/meshes/coupling.stl</uri>
</mesh>
</geometry>
</visual>
<!--
<visual name='coupling_visual'>
<pose>0.030000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
<length>0.03</length>
<radius>0.04</radius>
</cylinder>
</geometry>
</visual>
-->
<collision name="coupling_collision">
<pose>0.030000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
<geometry>
<cylinder>
<length>0.03</length>
<radius>0.04</radius>
</cylinder>
</geometry>
</collision>
<velocity_decay> <linear>0.005</linear>
<angular>0.005</angular>
</velocity_decay>
</link>
<joint name="joint_20_3" type="revolute">
<child>coupling</child>
<parent>coupling_base</parent>
<axis>
<xyz>1.000000 0.000000 0.000000</xyz>
</axis>
</joint>
<plugin name="fire_hose_long_plugin" filename="libDRCFirehosePlugin.so">
<coupling_link>coupling</coupling_link>
<spout_model>standpipe</spout_model>
<spout_link>standpipe</spout_link>
<thread_pitch>-1000</thread_pitch>
<coupling_relative_pose>1.17038e-05 -0.125623 0.35 -0.0412152 -1.57078 1.61199</coupling_relative_pose>
</plugin>
</model>
</sdf>