388 lines
11 KiB
Plaintext
388 lines
11 KiB
Plaintext
![]() |
<?xml version="1.0"?>
|
||
|
<sdf version="1.5">
|
||
|
|
||
|
<model name= "ladder_70deg_0rails" >
|
||
|
<static>true</static>
|
||
|
<link name="step0" >
|
||
|
<pose>0 0.09705872913765398 0.26666666666666666 0 0 0 </pose>
|
||
|
<inertial>
|
||
|
<mass> 9.7548192</mass>
|
||
|
<inertia>
|
||
|
<ixx> 0.009571241631672</ixx>
|
||
|
<iyy> 0.6596303120915761</iyy>
|
||
|
<izz> 0.666841521540096</izz>
|
||
|
<ixy>0</ixy>
|
||
|
<ixz>0</ixz>
|
||
|
<iyz>0</iyz>
|
||
|
</inertia>
|
||
|
</inertial>
|
||
|
|
||
|
<collision name="collision">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.1016 0.0381 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
</collision>
|
||
|
|
||
|
<visual name="visual">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.1016 0.0381 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
<material>
|
||
|
<script>
|
||
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
<name>Gazebo/Grey</name>
|
||
|
</script>
|
||
|
</material>
|
||
|
</visual>
|
||
|
</link>
|
||
|
<link name="step1" >
|
||
|
<pose>0 0.19411745827530796 0.5333333333333333 0 0 0 </pose>
|
||
|
<inertial>
|
||
|
<mass> 9.7548192</mass>
|
||
|
<inertia>
|
||
|
<ixx> 0.009571241631672</ixx>
|
||
|
<iyy> 0.6596303120915761</iyy>
|
||
|
<izz> 0.666841521540096</izz>
|
||
|
<ixy>0</ixy>
|
||
|
<ixz>0</ixz>
|
||
|
<iyz>0</iyz>
|
||
|
</inertia>
|
||
|
</inertial>
|
||
|
|
||
|
<collision name="collision">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.1016 0.0381 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
</collision>
|
||
|
|
||
|
<visual name="visual">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.1016 0.0381 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
<material>
|
||
|
<script>
|
||
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
<name>Gazebo/Grey</name>
|
||
|
</script>
|
||
|
</material>
|
||
|
</visual>
|
||
|
</link>
|
||
|
<link name="step2" >
|
||
|
<pose>0 0.2911761874129619 0.8 0 0 0 </pose>
|
||
|
<inertial>
|
||
|
<mass> 9.7548192</mass>
|
||
|
<inertia>
|
||
|
<ixx> 0.009571241631672</ixx>
|
||
|
<iyy> 0.6596303120915761</iyy>
|
||
|
<izz> 0.666841521540096</izz>
|
||
|
<ixy>0</ixy>
|
||
|
<ixz>0</ixz>
|
||
|
<iyz>0</iyz>
|
||
|
</inertia>
|
||
|
</inertial>
|
||
|
|
||
|
<collision name="collision">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.1016 0.0381 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
</collision>
|
||
|
|
||
|
<visual name="visual">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.1016 0.0381 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
<material>
|
||
|
<script>
|
||
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
<name>Gazebo/Grey</name>
|
||
|
</script>
|
||
|
</material>
|
||
|
</visual>
|
||
|
</link>
|
||
|
<link name="step3" >
|
||
|
<pose>0 0.3882349165506159 1.0666666666666667 0 0 0 </pose>
|
||
|
<inertial>
|
||
|
<mass> 9.7548192</mass>
|
||
|
<inertia>
|
||
|
<ixx> 0.009571241631672</ixx>
|
||
|
<iyy> 0.6596303120915761</iyy>
|
||
|
<izz> 0.666841521540096</izz>
|
||
|
<ixy>0</ixy>
|
||
|
<ixz>0</ixz>
|
||
|
<iyz>0</iyz>
|
||
|
</inertia>
|
||
|
</inertial>
|
||
|
|
||
|
<collision name="collision">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.1016 0.0381 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
</collision>
|
||
|
|
||
|
<visual name="visual">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.1016 0.0381 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
<material>
|
||
|
<script>
|
||
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
<name>Gazebo/Grey</name>
|
||
|
</script>
|
||
|
</material>
|
||
|
</visual>
|
||
|
</link>
|
||
|
<link name="step4" >
|
||
|
<pose>0 0.48529364568826994 1.3333333333333333 0 0 0 </pose>
|
||
|
<inertial>
|
||
|
<mass> 9.7548192</mass>
|
||
|
<inertia>
|
||
|
<ixx> 0.009571241631672</ixx>
|
||
|
<iyy> 0.6596303120915761</iyy>
|
||
|
<izz> 0.666841521540096</izz>
|
||
|
<ixy>0</ixy>
|
||
|
<ixz>0</ixz>
|
||
|
<iyz>0</iyz>
|
||
|
</inertia>
|
||
|
</inertial>
|
||
|
|
||
|
<collision name="collision">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.1016 0.0381 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
</collision>
|
||
|
|
||
|
<visual name="visual">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.1016 0.0381 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
<material>
|
||
|
<script>
|
||
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
<name>Gazebo/Grey</name>
|
||
|
</script>
|
||
|
</material>
|
||
|
</visual>
|
||
|
</link>
|
||
|
<link name="step5" >
|
||
|
<pose>0 0.5823523748259238 1.6 0 0 0 </pose>
|
||
|
<inertial>
|
||
|
<mass> 9.7548192</mass>
|
||
|
<inertia>
|
||
|
<ixx> 0.009571241631672</ixx>
|
||
|
<iyy> 0.6596303120915761</iyy>
|
||
|
<izz> 0.666841521540096</izz>
|
||
|
<ixy>0</ixy>
|
||
|
<ixz>0</ixz>
|
||
|
<iyz>0</iyz>
|
||
|
</inertia>
|
||
|
</inertial>
|
||
|
|
||
|
<collision name="collision">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.1016 0.0381 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
</collision>
|
||
|
|
||
|
<visual name="visual">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.1016 0.0381 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
<material>
|
||
|
<script>
|
||
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
<name>Gazebo/Grey</name>
|
||
|
</script>
|
||
|
</material>
|
||
|
</visual>
|
||
|
</link>
|
||
|
<link name="step6" >
|
||
|
<pose>0 0.6794111039635778 1.8666666666666667 0 0 0 </pose>
|
||
|
<inertial>
|
||
|
<mass> 9.7548192</mass>
|
||
|
<inertia>
|
||
|
<ixx> 0.009571241631672</ixx>
|
||
|
<iyy> 0.6596303120915761</iyy>
|
||
|
<izz> 0.666841521540096</izz>
|
||
|
<ixy>0</ixy>
|
||
|
<ixz>0</ixz>
|
||
|
<iyz>0</iyz>
|
||
|
</inertia>
|
||
|
</inertial>
|
||
|
|
||
|
<collision name="collision">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.1016 0.0381 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
</collision>
|
||
|
|
||
|
<visual name="visual">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.1016 0.0381 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
<material>
|
||
|
<script>
|
||
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
<name>Gazebo/Grey</name>
|
||
|
</script>
|
||
|
</material>
|
||
|
</visual>
|
||
|
</link>
|
||
|
<link name="step7" >
|
||
|
<pose>0 0.7764698331012319 2.1333333333333333 0 0 0 </pose>
|
||
|
<inertial>
|
||
|
<mass> 9.7548192</mass>
|
||
|
<inertia>
|
||
|
<ixx> 0.009571241631672</ixx>
|
||
|
<iyy> 0.6596303120915761</iyy>
|
||
|
<izz> 0.666841521540096</izz>
|
||
|
<ixy>0</ixy>
|
||
|
<ixz>0</ixz>
|
||
|
<iyz>0</iyz>
|
||
|
</inertia>
|
||
|
</inertial>
|
||
|
|
||
|
<collision name="collision">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.1016 0.0381 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
</collision>
|
||
|
|
||
|
<visual name="visual">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.1016 0.0381 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
<material>
|
||
|
<script>
|
||
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
<name>Gazebo/Grey</name>
|
||
|
</script>
|
||
|
</material>
|
||
|
</visual>
|
||
|
</link>
|
||
|
<link name="landing">
|
||
|
<pose>0 1.1735285622388858 2.4 0 0 0 </pose>
|
||
|
<inertial>
|
||
|
<mass> 57.607200000000006</mass>
|
||
|
<inertia>
|
||
|
<ixx> 1.735184598966</ixx>
|
||
|
<iyy> 3.8954545989660008</iyy>
|
||
|
<izz> 5.616702</izz>
|
||
|
<ixy>0</ixy>
|
||
|
<ixz>0</ixz>
|
||
|
<iyz>0</iyz>
|
||
|
</inertia>
|
||
|
</inertial>
|
||
|
|
||
|
<collision name="collision">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.6 0.1016</size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
</collision>
|
||
|
|
||
|
<visual name="visual">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.9 0.6 0.1016</size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
<material>
|
||
|
<script>
|
||
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
<name>Gazebo/Grey</name>
|
||
|
</script>
|
||
|
</material>
|
||
|
</visual>
|
||
|
</link>
|
||
|
|
||
|
<link name="left_side_wall" >
|
||
|
<pose>-0.45 0.43676428111944293 1.2 1.2217304763960306 0 0 </pose>
|
||
|
<collision name="collision">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.0508 2.6340266539421893 0.13 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
</collision>
|
||
|
|
||
|
<visual name="visual">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.0508 2.6340266539421893 0.13 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
<material>
|
||
|
<script>
|
||
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
<name>Gazebo/Grey</name>
|
||
|
</script>
|
||
|
</material>
|
||
|
</visual>
|
||
|
|
||
|
|
||
|
</link>
|
||
|
<link name="right_side_wall" >
|
||
|
<pose>0.45 0.43676428111944293 1.2 1.2217304763960306 0 0 </pose>
|
||
|
<collision name="collision">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.0508 2.6340266539421893 0.13 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
</collision>
|
||
|
|
||
|
<visual name="visual">
|
||
|
<geometry>
|
||
|
<box>
|
||
|
<size> 0.0508 2.6340266539421893 0.13 </size>
|
||
|
</box>
|
||
|
</geometry>
|
||
|
<material>
|
||
|
<script>
|
||
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
<name>Gazebo/Grey</name>
|
||
|
</script>
|
||
|
</material>
|
||
|
</visual>
|
||
|
|
||
|
|
||
|
</link>
|
||
|
|
||
|
|
||
|
|
||
|
</model>
|
||
|
</sdf>
|