231 lines
8.5 KiB
Plaintext
231 lines
8.5 KiB
Plaintext
<sdf version="1.3">
|
|
<model name="fire_hose_long">
|
|
<link name="sphere_09">
|
|
<gravity>false</gravity>
|
|
<pose>1.700000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<inertial>
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<mass>0.100000</mass>
|
|
<inertia>
|
|
<ixx>0.010000</ixx>
|
|
<ixy>0.000000</ixy>
|
|
<ixz>0.000000</ixz>
|
|
<iyy>0.010000</iyy>
|
|
<iyz>0.000000</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="sphere_09_collision">
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.025000</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="sphere_09_vis">
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.025000</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay />
|
|
</link>
|
|
<link name="link_09">
|
|
<gravity>false</gravity>
|
|
<pose>1.700000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<inertial>
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<mass>0.100000</mass>
|
|
<inertia>
|
|
<ixx>0.010000</ixx>
|
|
<ixy>0.000000</ixy>
|
|
<ixz>0.000000</ixz>
|
|
<iyy>0.010000</iyy>
|
|
<iyz>0.000000</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="link_09_collision">
|
|
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.200000</length>
|
|
<radius>0.025000</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="link_09_vis">
|
|
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.200000</length>
|
|
<radius>0.025000</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay />
|
|
</link>
|
|
<joint name="joint_09_2" type="revolute">
|
|
<child>link_09</child>
|
|
<parent>sphere_09</parent>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
</limit>
|
|
<dynamics />
|
|
</axis>
|
|
</joint>
|
|
<link name="sphere_10">
|
|
<gravity>false</gravity>
|
|
<pose>1.900000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<inertial>
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<mass>0.100000</mass>
|
|
<inertia>
|
|
<ixx>0.010000</ixx>
|
|
<ixy>0.000000</ixy>
|
|
<ixz>0.000000</ixz>
|
|
<iyy>0.010000</iyy>
|
|
<iyz>0.000000</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="sphere_10_collision">
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.025000</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="sphere_10_vis">
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.025000</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay />
|
|
</link>
|
|
<joint name="joint_10_1" type="revolute">
|
|
<child>sphere_10</child>
|
|
<parent>link_09</parent>
|
|
<axis>
|
|
<xyz>0.000000 0.000000 1.000000</xyz>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
</limit>
|
|
<dynamics />
|
|
</axis>
|
|
</joint>
|
|
<link name="coupling_base">
|
|
<pose>1.900000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<inertial>
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<mass>0.100000</mass>
|
|
<inertia>
|
|
<ixx>0.010000</ixx>
|
|
<ixy>0.000000</ixy>
|
|
<ixz>0.000000</ixz>
|
|
<iyy>0.010000</iyy>
|
|
<iyz>0.000000</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<!--
|
|
<collision name='coupling_collision'>
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>0.001000 0.001000 0.001000</scale>
|
|
<uri>model://fire_hose_long/meshes/coupling.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
-->
|
|
<velocity_decay />
|
|
</link>
|
|
<joint name="joint_20_2" type="revolute">
|
|
<child>coupling_base</child>
|
|
<parent>sphere_10</parent>
|
|
<axis>
|
|
<xyz>0.000000 1.000000 0.000000</xyz>
|
|
<limit>
|
|
<lower>-1.570800</lower>
|
|
<upper>1.570800</upper>
|
|
</limit>
|
|
<dynamics />
|
|
</axis>
|
|
</joint>
|
|
<link name="coupling">
|
|
<pose>1.900000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<inertial>
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<mass>0.100000</mass>
|
|
<inertia>
|
|
<ixx>0.010000</ixx>
|
|
<ixy>0.000000</ixy>
|
|
<ixz>0.000000</ixz>
|
|
<iyy>0.010000</iyy>
|
|
<iyz>0.000000</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<visual name="coupling_mesh_visual">
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>0.001000 0.001000 0.001000</scale>
|
|
<uri>model://fire_hose_long/meshes/coupling.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
<!--
|
|
<visual name='coupling_visual'>
|
|
<pose>0.030000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.03</length>
|
|
<radius>0.04</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
</visual>
|
|
-->
|
|
<collision name="coupling_collision">
|
|
<pose>0.030000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.03</length>
|
|
<radius>0.04</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
</collision>
|
|
<velocity_decay>
|
|
<linear>0.005</linear>
|
|
<angular>0.005</angular>
|
|
</velocity_decay>
|
|
</link>
|
|
<joint name="joint_20_3" type="revolute">
|
|
<child>coupling</child>
|
|
<parent>coupling_base</parent>
|
|
<axis>
|
|
<xyz>1.000000 0.000000 0.000000</xyz>
|
|
</axis>
|
|
</joint>
|
|
<plugin name="fire_hose_long_plugin" filename="libDRCFirehosePlugin.so">
|
|
<coupling_link>coupling</coupling_link>
|
|
<spout_model>standpipe</spout_model>
|
|
<spout_link>standpipe</spout_link>
|
|
<thread_pitch>-1000</thread_pitch>
|
|
<coupling_relative_pose>1.17038e-05 -0.125623 0.35 -0.0412152 -1.57078 1.61199</coupling_relative_pose>
|
|
</plugin>
|
|
</model>
|
|
</sdf>
|