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model.sdf

anandvgeorge Dec 18th, 2015 21 Never
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  1. <?xml version='1.0'?>
  2. <sdf version='1.4'>
  3. <model name="my_robot">
  4.   <link name='chassis'>
  5.     <pose>0 0 .25 0 0 0</pose>
  6.  
  7.     <inertial>
  8.       <mass>20.0</mass>
  9.       <pose>-0.1 0 -0.1 0 0 0</pose>
  10.       <inertia>
  11.         <ixx>0.5</ixx>
  12.         <iyy>1.0</iyy>
  13.         <izz>0.1</izz>
  14.       </inertia>
  15.     </inertial>
  16.  
  17.     <collision name='collision'>
  18.       <geometry>
  19.         <box>
  20.           <size>2 1 0.3</size>
  21.         </box>
  22.       </geometry>
  23.     </collision>
  24.  
  25.     <visual name='visual'>
  26.       <geometry>
  27.         <box>
  28.           <size>2 1 0.3</size>
  29.         </box>
  30.       </geometry>
  31.     </visual>
  32.  
  33.     <collision name='caster_collision'>
  34.       <pose>-0.8 0 -0.125 0 0 0</pose>
  35.       <geometry>
  36.         <sphere>
  37.           <radius>.125</radius>
  38.         </sphere>
  39.       </geometry>
  40.  
  41.       <surface>
  42.         <friction>
  43.           <ode>
  44.             <mu>0</mu>
  45.             <mu2>0</mu2>
  46.           </ode>
  47.         </friction>
  48.       </surface>
  49.     </collision>
  50.  
  51.     <visual name='caster_visual'>
  52.       <pose>-0.8 0 -0.125 0 0 0</pose>
  53.       <geometry>
  54.         <sphere>
  55.           <radius>.125</radius>
  56.         </sphere>
  57.       </geometry>
  58.     </visual>
  59.   </link>
  60.   <link name="left_wheel">
  61.     <pose>0.8 0.6 0.125 0 1.5707 1.5707</pose>
  62.     <collision name="collision">
  63.       <geometry>
  64.         <cylinder>
  65.           <radius>.125</radius>
  66.           <length>.05</length>
  67.         </cylinder>
  68.       </geometry>
  69.     </collision>
  70.     <visual name="visual">
  71.       <geometry>
  72.         <cylinder>
  73.           <radius>.125</radius>
  74.           <length>.05</length>
  75.         </cylinder>
  76.       </geometry>
  77.     </visual>
  78.   </link>
  79.  
  80.   <link name="right_wheel">
  81.     <pose>0.8 -0.6 0.125 0 1.5707 1.5707</pose>
  82.     <collision name="collision">
  83.       <geometry>
  84.         <cylinder>
  85.           <radius>.125</radius>
  86.           <length>.05</length>
  87.         </cylinder>
  88.       </geometry>
  89.     </collision>
  90.     <visual name="visual">
  91.       <geometry>
  92.         <cylinder>
  93.           <radius>.125</radius>
  94.           <length>.05</length>
  95.         </cylinder>
  96.       </geometry>
  97.     </visual>
  98.   </link>
  99.  
  100.   <joint type="revolute" name="left_wheel_hinge">
  101.     <pose>0 0 -0.03 0 0 0</pose>
  102.     <child>left_wheel</child>
  103.     <parent>chassis</parent>
  104.     <axis>
  105.       <xyz>0 1 0</xyz>
  106.     </axis>
  107.   </joint>
  108.  
  109.   <joint type="revolute" name="right_wheel_hinge">
  110.     <pose>0 0 0.03 0 0 0</pose>
  111.     <child>right_wheel</child>
  112.     <parent>chassis</parent>
  113.     <axis>
  114.       <xyz>0 1 0</xyz>
  115.     </axis>
  116.   </joint>
  117.  
  118. </model>
  119. </sdf>
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