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Gazebo SDF model

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Jul 17th, 2013
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  1. <include>
  2.   <uri>model://mrl_impep_base</uri>
  3.   <pose>0 0 0.80 0 0 0</pose>
  4.   <self_collide>true</self_collide>
  5. </include>
  6. <joint name="base_joint" type="revolute">
  7.   <child>mrl_impep_base::base</child>
  8.   <parent>stand</parent>
  9.   <axis>
  10.     <xyz>0 0 1</xyz>
  11.     <limit>
  12.       <upper>1.57</upper>
  13.       <lower>-1.57</lower>
  14.     </limit>
  15.   </axis>      
  16. </joint>
  17.    
  18. <include>
  19.   <uri>model://mrl_impep_top</uri>
  20.   <pose>0 0 1.01 0 0 0</pose>
  21.   <gravity>false</gravity>
  22. </include>
  23. <joint name="top_joint" type="revolute">
  24.   <child>mrl_impep_top::top</child>
  25.   <parent>mrl_impep_base::base</parent>
  26.   <axis>
  27.     <xyz>1 0 0</xyz>
  28.     <limit>
  29.       <upper>1.57</upper>
  30.       <lower>-1.57</lower>
  31.     </limit>
  32.   </axis>
  33. </joint>
  34.    
  35. <include>
  36.   <uri>model://mrl_impep_left_eye</uri>
  37.   <pose>0.05 0 1.01 0 0 0</pose>
  38. </include>
  39. <joint name="left_eye_joint" type="revolute">
  40.   <child>mrl_impep_left_eye::left_eye</child>
  41.   <parent>mrl_impep_top::top</parent>
  42.   <axis>
  43.     <xyz>0 0 1</xyz>
  44.     <limit>
  45.       <upper>0.79</upper>
  46.       <lower>-0.79</lower>
  47.     </limit>
  48.   </axis>
  49. </joint>
  50.    
  51. <include>
  52.   <uri>model://mrl_impep_right_eye</uri>
  53.   <pose>-0.05 0 1.01 0 0 0</pose>
  54. </include>
  55. <joint name="right_eye_joint" type="revolute">
  56.   <child>mrl_impep_right_eye::right_eye</child>
  57.   <parent>mrl_impep_top::top</parent>
  58.   <axis>
  59.     <xyz>0 0 1</xyz>
  60.     <limit>
  61.       <upper>0.79</upper>
  62.       <lower>-0.79</lower>
  63.     </limit>
  64.   </axis>
  65. </joint>
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