2115 lines
56 KiB
XML
2115 lines
56 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="fire_hose_long_curled">
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<pose>-1.81 -4.23 0.055 0 0 0</pose>
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<link name="coupling">
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<pose>-0.07 0 0.0 0 0 0</pose>
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<geometry>
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<mesh>
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<scale>0.4 0.4 0.8</scale>
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<uri>model://fire_hose_long_curled/meshes/coupling_hexagon.dae</uri>
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<uri>model://fire_hose_long_curled/materials/textures</uri>
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<uri>model://fire_hose_long_curled/materials/textures</uri>
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<sphere>
|
|
<radius>0.025</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://fire_hose_long_curled/materials/scripts</uri>
|
|
<uri>model://fire_hose_long_curled/materials/textures</uri>
|
|
<name>fire_hose_long_curled/fire_hose_canvas</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<link name="link_15">
|
|
<gravity>true</gravity>
|
|
<pose>0.1 -.508 0 0 0 0</pose>
|
|
<inertial>
|
|
<mass>0.1</mass>
|
|
<pose>0.1 0 0 0 0 0</pose>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.01</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<pose>0.1 0 0 0 1.570790 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.2</length>
|
|
<radius>0.025</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>1.0</mu>
|
|
<mu2>1.0</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<pose>0.1 0 0 0 1.570790 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.2</length>
|
|
<radius>0.025</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://fire_hose_long_curled/materials/scripts</uri>
|
|
<uri>model://fire_hose_long_curled/materials/textures</uri>
|
|
<name>fire_hose_long_curled/fire_hose_canvas</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<visual name="sphere">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.025</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://fire_hose_long_curled/materials/scripts</uri>
|
|
<uri>model://fire_hose_long_curled/materials/textures</uri>
|
|
<name>fire_hose_long_curled/fire_hose_canvas</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<link name="link_16">
|
|
<gravity>true</gravity>
|
|
<pose>0.3 -.508 0 0 0 0</pose>
|
|
<inertial>
|
|
<mass>0.1</mass>
|
|
<pose>0.1 0 0 0 0 0</pose>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.01</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<pose>0.1 0 0 0 1.570790 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.2</length>
|
|
<radius>0.025</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>1.0</mu>
|
|
<mu2>1.0</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<pose>0.1 0 0 0 1.570790 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.2</length>
|
|
<radius>0.025</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://fire_hose_long_curled/materials/scripts</uri>
|
|
<uri>model://fire_hose_long_curled/materials/textures</uri>
|
|
<name>fire_hose_long_curled/fire_hose_canvas</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<visual name="sphere">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.025</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://fire_hose_long_curled/materials/scripts</uri>
|
|
<uri>model://fire_hose_long_curled/materials/textures</uri>
|
|
<name>fire_hose_long_curled/fire_hose_canvas</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<link name="link_17">
|
|
<gravity>true</gravity>
|
|
<pose>0.5 -.508 0 0 0 0</pose>
|
|
<inertial>
|
|
<mass>0.1</mass>
|
|
<pose>0.1 0 0 0 0 0</pose>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.01</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<pose>0.1 0 0 0 1.570790 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.2</length>
|
|
<radius>0.025</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>1.0</mu>
|
|
<mu2>1.0</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<pose>0.1 0 0 0 1.570790 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.2</length>
|
|
<radius>0.025</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://fire_hose_long_curled/materials/scripts</uri>
|
|
<uri>model://fire_hose_long_curled/materials/textures</uri>
|
|
<name>fire_hose_long_curled/fire_hose_canvas</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<visual name="sphere">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.025</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://fire_hose_long_curled/materials/scripts</uri>
|
|
<uri>model://fire_hose_long_curled/materials/textures</uri>
|
|
<name>fire_hose_long_curled/fire_hose_canvas</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<link name="link_18">
|
|
<gravity>true</gravity>
|
|
<pose>0.7 -.508 0 0 0 0</pose>
|
|
<inertial>
|
|
<mass>0.1</mass>
|
|
<pose>0.1 0 0 0 0 0</pose>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.01</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<pose>0.1 0 0 0 1.570790 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.2</length>
|
|
<radius>0.025</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>1.0</mu>
|
|
<mu2>1.0</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<pose>0.1 0 0 0 1.570790 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.2</length>
|
|
<radius>0.025</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://fire_hose_long_curled/materials/scripts</uri>
|
|
<uri>model://fire_hose_long_curled/materials/textures</uri>
|
|
<name>fire_hose_long_curled/fire_hose_canvas</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<visual name="sphere">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.025</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://fire_hose_long_curled/materials/scripts</uri>
|
|
<uri>model://fire_hose_long_curled/materials/textures</uri>
|
|
<name>fire_hose_long_curled/fire_hose_canvas</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<link name="link_19">
|
|
<gravity>true</gravity>
|
|
<pose>0.9 -.508 0 0 0 0</pose>
|
|
<inertial>
|
|
<mass>0.1</mass>
|
|
<pose>0.1 0 0 0 0 0</pose>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.01</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<pose>0.1 0 0 0 1.570790 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.2</length>
|
|
<radius>0.025</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>1.0</mu>
|
|
<mu2>1.0</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<pose>0.1 0 0 0 1.570790 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.2</length>
|
|
<radius>0.025</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://fire_hose_long_curled/materials/scripts</uri>
|
|
<uri>model://fire_hose_long_curled/materials/textures</uri>
|
|
<name>fire_hose_long_curled/fire_hose_canvas</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<visual name="sphere">
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.025</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>model://fire_hose_long_curled/materials/scripts</uri>
|
|
<uri>model://fire_hose_long_curled/materials/textures</uri>
|
|
<name>fire_hose_long_curled/fire_hose_canvas</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<link name="nozzle">
|
|
<pose>1.10 -.508 0 0 0 3.1415</pose>
|
|
<inertial>
|
|
<mass>0.1</mass>
|
|
<inertia>
|
|
<ixx>0.01</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.01</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="nozzle_collision">
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1.0 0.5 0.5</scale>
|
|
<uri>model://fire_hose_long_curled/meshes/nozzle.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode>
|
|
<min_depth>0.005</min_depth>
|
|
</ode>
|
|
</contact>
|
|
<friction>
|
|
<ode>
|
|
<mu>1.0</mu>
|
|
<mu2>1.0</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="nozzle_vis">
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1.0 0.5 0.5</scale>
|
|
<uri>model://fire_hose_long_curled/meshes/nozzle.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<joint name="joint_00" type="revolute">
|
|
<parent>coupling</parent>
|
|
<child>link_00</child>
|
|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_01" type="universal">
|
|
<child>link_01</child>
|
|
<parent>link_00</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_02" type="universal">
|
|
<child>link_02</child>
|
|
<parent>link_01</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_03" type="universal">
|
|
<child>link_03</child>
|
|
<parent>link_02</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_04" type="universal">
|
|
<child>link_04</child>
|
|
<parent>link_03</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_05" type="universal">
|
|
<child>link_05</child>
|
|
<parent>link_04</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_06" type="universal">
|
|
<child>link_06</child>
|
|
<parent>link_05</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-0.72</lower>
|
|
<upper>2.35</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>1 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_07" type="universal">
|
|
<child>link_07</child>
|
|
<parent>link_06</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-0.0</lower>
|
|
<upper>3.00</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>-1 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_08" type="universal">
|
|
<child>link_08</child>
|
|
<parent>link_07</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-0.72</lower>
|
|
<upper>2.35</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_09" type="universal">
|
|
<child>link_09</child>
|
|
<parent>link_08</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_10" type="universal">
|
|
<child>link_10</child>
|
|
<parent>link_09</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_11" type="universal">
|
|
<child>link_11</child>
|
|
<parent>link_10</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_12" type="universal">
|
|
<child>link_12</child>
|
|
<parent>link_11</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_13" type="universal">
|
|
<child>link_13</child>
|
|
<parent>link_12</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-2.35</lower>
|
|
<upper>0.72</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>-1 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_14" type="universal">
|
|
<child>link_14</child>
|
|
<parent>link_13</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-3.00</lower>
|
|
<upper>0.0</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>1 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_15" type="universal">
|
|
<child>link_15</child>
|
|
<parent>link_14</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-2.35</lower>
|
|
<upper>0.72</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_16" type="universal">
|
|
<child>link_16</child>
|
|
<parent>link_15</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_17" type="universal">
|
|
<child>link_17</child>
|
|
<parent>link_16</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_18" type="universal">
|
|
<child>link_18</child>
|
|
<parent>link_17</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_19" type="universal">
|
|
<child>link_19</child>
|
|
<parent>link_18</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="joint_20" type="universal">
|
|
<child>nozzle</child>
|
|
<parent>link_19</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="world" type="universal">
|
|
<child>nozzle</child>
|
|
<parent>world</parent>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
<axis2>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-1.57</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.0</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis2>
|
|
<physics>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
</model>
|
|
</sdf>
|