1043 lines
37 KiB
Plaintext
1043 lines
37 KiB
Plaintext
<sdf version="1.3">
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<model name="fire_hose_long">
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<link name="nozzle">
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<gravity>false</gravity>
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<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<inertial>
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<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<mass>0.100000</mass>
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<inertia>
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<ixx>0.010000</ixx>
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<ixy>0.000000</ixy>
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<ixz>0.000000</ixz>
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<iyy>0.010000</iyy>
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<iyz>0.000000</iyz>
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<izz>0.010000</izz>
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</inertia>
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</inertial>
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<!--
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<collision name='nozzle_collision'>
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<pose>-0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<geometry>
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<mesh>
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<scale>0.002540 0.002540 0.002540</scale>
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<uri>model://fire_hose_long/meshes/nozzle.stl</uri>
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</mesh>
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</geometry>
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</collision>
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-->
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<collision name="nozzle_collision_simple">
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<pose>0.050000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
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<geometry>
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<cylinder>
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<length>0.10</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<visual name="nozzle_vis">
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<pose>-0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<geometry>
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<mesh>
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<scale>0.002540 0.002540 0.002540</scale>
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<uri>model://fire_hose_long/meshes/nozzle.stl</uri>
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</mesh>
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</geometry>
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</visual>
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<velocity_decay />
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</link>
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<link name="sphere_01">
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<gravity>false</gravity>
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<pose>0.100000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<inertial>
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<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<mass>0.100000</mass>
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<inertia>
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<ixx>0.010000</ixx>
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<ixy>0.000000</ixy>
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<ixz>0.000000</ixz>
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<iyy>0.010000</iyy>
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<iyz>0.000000</iyz>
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<izz>0.010000</izz>
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</inertia>
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</inertial>
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<collision name="sphere_01_collision">
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<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<geometry>
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<sphere>
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<radius>0.025000</radius>
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</sphere>
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</geometry>
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</collision>
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<visual name="sphere_01_vis">
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<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<geometry>
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<sphere>
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<radius>0.025000</radius>
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</sphere>
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</geometry>
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</visual>
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<velocity_decay />
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</link>
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<joint name="joint_01_1" type="revolute">
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<child>sphere_01</child>
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<parent>nozzle</parent>
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<axis>
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<xyz>0.000000 0.000000 1.000000</xyz>
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<limit>
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<lower>-1.570800</lower>
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<upper>1.570800</upper>
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</limit>
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<dynamics />
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</axis>
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</joint>
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<link name="link_01">
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<gravity>false</gravity>
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<pose>0.100000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<inertial>
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<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<mass>0.100000</mass>
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<inertia>
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<ixx>0.010000</ixx>
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<ixy>0.000000</ixy>
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<ixz>0.000000</ixz>
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<iyy>0.010000</iyy>
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<iyz>0.000000</iyz>
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<izz>0.010000</izz>
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</inertia>
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</inertial>
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<!--
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<collision name='link_01_collision'>
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<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
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<geometry>
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<cylinder>
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<length>0.200000</length>
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<radius>0.025000</radius>
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</cylinder>
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</geometry>
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</collision>
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-->
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<visual name="link_01_vis">
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<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
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<geometry>
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<cylinder>
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<length>0.200000</length>
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<radius>0.025000</radius>
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</cylinder>
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</geometry>
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</visual>
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<velocity_decay />
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</link>
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<joint name="joint_01_2" type="revolute">
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<child>link_01</child>
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<parent>sphere_01</parent>
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<axis>
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<xyz>0.000000 1.000000 0.000000</xyz>
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<limit>
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<lower>-1.570800</lower>
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<upper>1.570800</upper>
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</limit>
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<dynamics />
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</axis>
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</joint>
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<link name="sphere_02">
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<gravity>false</gravity>
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<pose>0.300000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<inertial>
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<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<mass>0.100000</mass>
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<inertia>
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<ixx>0.010000</ixx>
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<ixy>0.000000</ixy>
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<ixz>0.000000</ixz>
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<iyy>0.010000</iyy>
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<iyz>0.000000</iyz>
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<izz>0.010000</izz>
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</inertia>
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</inertial>
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<collision name="sphere_02_collision">
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<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<geometry>
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<sphere>
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<radius>0.025000</radius>
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</sphere>
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</geometry>
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</collision>
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<visual name="sphere_02_vis">
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<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<geometry>
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<sphere>
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<radius>0.025000</radius>
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</sphere>
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</geometry>
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</visual>
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<velocity_decay />
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</link>
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<joint name="joint_02_1" type="revolute">
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<child>sphere_02</child>
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<parent>link_01</parent>
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<axis>
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<xyz>0.000000 0.000000 1.000000</xyz>
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<limit>
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<lower>-1.570800</lower>
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<upper>1.570800</upper>
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</limit>
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<dynamics />
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</axis>
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</joint>
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<link name="link_02">
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<gravity>false</gravity>
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<pose>0.300000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<inertial>
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<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<mass>0.100000</mass>
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<inertia>
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<ixx>0.010000</ixx>
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<ixy>0.000000</ixy>
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<ixz>0.000000</ixz>
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<iyy>0.010000</iyy>
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<iyz>0.000000</iyz>
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<izz>0.010000</izz>
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</inertia>
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</inertial>
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<!--
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<collision name='link_02_collision'>
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<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
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<geometry>
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<cylinder>
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<length>0.200000</length>
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<radius>0.025000</radius>
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</cylinder>
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</geometry>
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</collision>
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-->
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<visual name="link_02_vis">
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<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
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<geometry>
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<cylinder>
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<length>0.200000</length>
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<radius>0.025000</radius>
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</cylinder>
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</geometry>
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</visual>
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<velocity_decay />
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</link>
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<joint name="joint_02_2" type="revolute">
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<child>link_02</child>
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<parent>sphere_02</parent>
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<axis>
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<xyz>0.000000 1.000000 0.000000</xyz>
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<limit>
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<lower>-1.570800</lower>
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<upper>1.570800</upper>
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</limit>
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<dynamics />
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</axis>
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</joint>
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<link name="sphere_03">
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<gravity>false</gravity>
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<pose>0.500000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<inertial>
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<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<mass>0.100000</mass>
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|
<inertia>
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|
<ixx>0.010000</ixx>
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<ixy>0.000000</ixy>
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<ixz>0.000000</ixz>
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<iyy>0.010000</iyy>
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<iyz>0.000000</iyz>
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<izz>0.010000</izz>
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</inertia>
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</inertial>
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<collision name="sphere_03_collision">
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<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<geometry>
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<sphere>
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<radius>0.025000</radius>
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</sphere>
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</geometry>
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</collision>
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<visual name="sphere_03_vis">
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<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<geometry>
|
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<sphere>
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<radius>0.025000</radius>
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</sphere>
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</geometry>
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</visual>
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<velocity_decay />
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</link>
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<joint name="joint_03_1" type="revolute">
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<child>sphere_03</child>
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<parent>link_02</parent>
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<axis>
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<xyz>0.000000 0.000000 1.000000</xyz>
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|
<limit>
|
|
<lower>-1.570800</lower>
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<upper>1.570800</upper>
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</limit>
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<dynamics />
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|
</axis>
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</joint>
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<link name="link_03">
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<gravity>false</gravity>
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|
<pose>0.500000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<inertial>
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|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<mass>0.100000</mass>
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<inertia>
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|
<ixx>0.010000</ixx>
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|
<ixy>0.000000</ixy>
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|
<ixz>0.000000</ixz>
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|
<iyy>0.010000</iyy>
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|
<iyz>0.000000</iyz>
|
|
<izz>0.010000</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<!--
|
|
<collision name='link_03_collision'>
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|
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.200000</length>
|
|
<radius>0.025000</radius>
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</cylinder>
|
|
</geometry>
|
|
</collision>
|
|
-->
|
|
<visual name="link_03_vis">
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|
<pose>0.100000 0.000000 0.000000 0.000000 1.570790 0.000000</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.200000</length>
|
|
<radius>0.025000</radius>
|
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</cylinder>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay />
|
|
</link>
|
|
<joint name="joint_03_2" type="revolute">
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|
<child>link_03</child>
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|
<parent>sphere_03</parent>
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|
<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_04">
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|
<gravity>false</gravity>
|
|
<pose>0.700000 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>
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|
<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_04_collision">
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.025000</radius>
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|
</sphere>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="sphere_04_vis">
|
|
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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|
<geometry>
|
|
<sphere>
|
|
<radius>0.025000</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</visual>
|
|
<velocity_decay />
|
|
</link>
|
|
<joint name="joint_04_1" type="revolute">
|
|
<child>sphere_04</child>
|
|
<parent>link_03</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="link_04">
|
|
<gravity>false</gravity>
|
|
<pose>0.700000 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_04_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_04_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_04_2" type="revolute">
|
|
<child>link_04</child>
|
|
<parent>sphere_04</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_05">
|
|
<gravity>false</gravity>
|
|
<pose>0.900000 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_05_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_05_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_05_1" type="revolute">
|
|
<child>sphere_05</child>
|
|
<parent>link_04</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="link_05">
|
|
<gravity>false</gravity>
|
|
<pose>0.900000 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='link_05_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_05_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_05_2" type="revolute">
|
|
<child>link_05</child>
|
|
<parent>sphere_05</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_06">
|
|
<gravity>false</gravity>
|
|
<pose>1.100000 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_06_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_06_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_06_1" type="revolute">
|
|
<child>sphere_06</child>
|
|
<parent>link_05</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="link_06">
|
|
<gravity>false</gravity>
|
|
<pose>1.100000 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_06_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_06_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_06_2" type="revolute">
|
|
<child>link_06</child>
|
|
<parent>sphere_06</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_07">
|
|
<gravity>false</gravity>
|
|
<pose>1.300000 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_07_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_07_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_07_1" type="revolute">
|
|
<child>sphere_07</child>
|
|
<parent>link_06</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="link_07">
|
|
<gravity>false</gravity>
|
|
<pose>1.300000 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_07_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_07_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_07_2" type="revolute">
|
|
<child>link_07</child>
|
|
<parent>sphere_07</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_08">
|
|
<gravity>false</gravity>
|
|
<pose>1.500000 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_08_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_08_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_08_1" type="revolute">
|
|
<child>sphere_08</child>
|
|
<parent>link_07</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="link_08">
|
|
<gravity>false</gravity>
|
|
<pose>1.500000 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_08_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_08_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_08_2" type="revolute">
|
|
<child>link_08</child>
|
|
<parent>sphere_08</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_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>
|
|
<joint name="joint_09_1" type="revolute">
|
|
<child>sphere_09</child>
|
|
<parent>link_08</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="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>
|