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jenniferdavid authored23533d86
model.sdf 7.40 KiB
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="frc2016_chevaldefrise">
<link name="base">
<inertial>
<mass>10</mass>
<pose>0 0 0.15672 0 0 0</pose>
<inertia>
<ixx>0.380220833</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1.433654167</iyy>
<iyz>0</iyz>
<izz>1.647448333</izz>
</inertia>
</inertial>
<visual name="platform">
<pose>0 0 0.06968 0 0 0</pose>
<geometry>
<box>
<size>1.27 0.5969 0.003175</size>
</box>
</geometry>
</visual>
<collision name="platform">
<pose>0 0 0.06968 0 0 0</pose>
<geometry>
<box>
<size>1.27 0.5969 0.003175</size>
</box>
</geometry>
</collision>
<visual name="bar">
<pose>0 0 0.16855 0 1.5707 0</pose>
<geometry>
<cylinder>
<radius>0.02108</radius>
<length>1.273</length>
</cylinder>
</geometry>
</visual>
<collision name="bar">
<pose>0 0 0.16855 0 1.5707 0</pose>
<geometry>
<cylinder>
<radius>0.02108</radius>
<length>1.27</length>
</cylinder>
</geometry>
</collision>
<visual name="castor1">
<pose>-0.45653 -0.16581 0.03175 0 0 0</pose>
<geometry>
<sphere>
<radius>0.03175</radius>
</sphere>
</geometry>
</visual>
<collision name="castor1">
<pose>-0.45653 -0.16581 0.03175 0 0 0</pose>
<geometry>
<sphere>
<radius>0.03175</radius>
</sphere>
</geometry> </collision>
<visual name="castor2">
<pose>-0.27855 0.21408 0.03175 0 0 0</pose>
<geometry>
<sphere>
<radius>0.03175</radius>
</sphere>
</geometry>
</visual>
<collision name="castor2">
<pose>-0.27855 0.21408 0.03175 0 0 0</pose>
<geometry>
<sphere>
<radius>0.03175</radius>
</sphere>
</geometry>
</collision>
<visual name="castor3">
<pose>0.28191 0.21419 0.03175 0 0 0</pose>
<geometry>
<sphere>
<radius>0.03175</radius>
</sphere>
</geometry>
</visual>
<collision name="castor3">
<pose>0.28191 0.21419 0.03175 0 0 0</pose>
<geometry>
<sphere>
<radius>0.03175</radius>
</sphere>
</geometry>
</collision>
<visual name="castor4">
<pose>0.45965 -0.16602 0.03175 0 0 0</pose>
<geometry>
<sphere>
<radius>0.03175</radius>
</sphere>
</geometry>
</visual>
<collision name="castor4">
<pose>0.45965 -0.16602 0.03175 0 0 0</pose>
<geometry>
<sphere>
<radius>0.03175</radius>
</sphere>
</geometry>
</collision>
</link>
<link name="slant1">
<pose>-0.45720 0.01307 0.1997 -0.397319587 0 0</pose>
<inertial>
<pose>0 0.1 0 0 0 0</pose>
<mass>2</mass>
<inertia>
<ixx>0.060685681</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.014872282</iyy>
<iyz>0</iyz>
<izz>0.0755042</izz> </inertia>
</inertial>
<visual name="visual">
<geometry>
<box>
<size>0.29845 0.593285005 0.0127</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/WoodFloor</name>
</script>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>0.29845 0.593285005 0.0127</size>
</box>
</geometry>
</collision>
</link>
<link name="slant2">
<pose>-0.15240 -0.01307 0.1997 0.397319587 0 0</pose>
<inertial>
<mass>2</mass>
<pose>0 -0.1 0 0 0 0</pose>
<inertia>
<ixx>0.060685681</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.014872282</iyy>
<iyz>0</iyz>
<izz>0.0755042</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<box>
<size>0.29845 0.593285005 0.0127</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/WoodFloor</name>
</script>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>0.29845 0.593285005 0.0127</size>
</box>
</geometry>
</collision>
</link>
<link name="slant3">
<pose>0.15240 0.01307 0.1997 -0.397319587 0 0</pose>
<inertial>
<pose>0 0.1 0 0 0 0</pose>
<mass>2</mass>
<inertia>
<ixx>0.060685681</ixx> <ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.014872282</iyy>
<iyz>0</iyz>
<izz>0.0755042</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<box>
<size>0.29845 0.593285005 0.0127</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/WoodFloor</name>
</script>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>0.29845 0.593285005 0.0127</size>
</box>
</geometry>
</collision>
</link>
<link name="slant4">
<pose>0.45720 -0.01307 0.1997 0.397319587 0 0</pose>
<inertial>
<pose>0 -0.1 0 0 0 0</pose>
<mass>2</mass>
<inertia>
<ixx>0.060685681</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.014872282</iyy>
<iyz>0</iyz>
<izz>0.0755042</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<box>
<size>0.29845 0.593285005 0.0127</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/WoodFloor</name>
</script>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>0.29845 0.593285005 0.0127</size>
</box>
</geometry>
</collision>
</link>
<joint type="revolute" name="slant1_joint">
<parent>base</parent>
<child>slant1</child> <axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>1.5707</upper>
</limit>
</axis>
</joint>
<joint type="revolute" name="slant2_joint">
<parent>base</parent>
<child>slant2</child>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-1.5707</lower>
<upper>0</upper>
</limit>
</axis>
</joint>
<joint type="revolute" name="slant3_joint">
<parent>base</parent>
<child>slant3</child>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>1.5707</upper>
</limit>
</axis>
</joint>
<joint type="revolute" name="slant4_joint">
<parent>base</parent>
<child>slant4</child>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-1.5707</lower>
<upper>0</upper>
</limit>
</axis>
</joint>
</model>
</sdf>