47 lines
1.0 KiB
Plaintext
47 lines
1.0 KiB
Plaintext
|
<?xml version="1.0" ?>
|
||
|
|
<sdf version="1.5">
|
||
|
|
<model name="person_walking">
|
||
|
|
<link name="link">
|
||
|
|
<inertial>
|
||
|
|
<pose>0 0 0.95 0 0 0</pose>
|
||
|
|
<mass>80.0</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>27.82</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>24.88</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>4.57</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
|
||
|
|
<collision name="bottom">
|
||
|
|
<pose>0 0 0.01 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.35 0.75 0.02</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<collision name="person">
|
||
|
|
<pose>0 0 -0.02 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://person_walking/meshes/walking.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<visual name="visual">
|
||
|
|
<pose>0 0 -0.02 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://person_walking/meshes/walking.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
</sdf>
|