280 lines
5.6 KiB
Plaintext
280 lines
5.6 KiB
Plaintext
<sdf version='1.6'>
|
|
<world name='default'>
|
|
<gravity>0 0 -9.8</gravity>
|
|
<model name='part0.obj'>
|
|
<static>1</static>
|
|
<pose frame=''>0 0 0 0 0 0</pose>
|
|
<link name='link_d0'>
|
|
<inertial>
|
|
<mass>0</mass>
|
|
<inertia>
|
|
<ixx>0.166667</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.166667</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.166667</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision concave='yes' name='collision_0'>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>part0.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>part0.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 1 1</diffuse>
|
|
|
|
<specular>0.1 0.1 0.1 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
<model name='part1.obj'>
|
|
<static>1</static>
|
|
<pose frame=''>0 0 0 0 0 0</pose>
|
|
<link name='link_d1'>
|
|
<inertial>
|
|
<mass>0</mass>
|
|
<inertia>
|
|
<ixx>0.166667</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.166667</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.166667</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision concave='yes' name='collision_1'>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>part1.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>part1.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>0.2 0.6 0.2 1</diffuse>
|
|
<specular>0.1 0.1 0.1 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
<model name='part2.obj'>
|
|
<static>1</static>
|
|
<pose frame=''>0 0 0 0 0 0</pose>
|
|
<link name='link_d2'>
|
|
<inertial>
|
|
<mass>0</mass>
|
|
<inertia>
|
|
<ixx>0.166667</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.166667</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.166667</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision concave='yes' name='collision_2'>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>part2.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>part2.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 0 1</diffuse>
|
|
<specular>0.1 0.1 0.1 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
<model name='part3.obj'>
|
|
<static>1</static>
|
|
<pose frame=''>0 0 0 0 0 0</pose>
|
|
<link name='link_d3'>
|
|
<inertial>
|
|
<mass>0</mass>
|
|
<inertia>
|
|
<ixx>0.166667</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.166667</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.166667</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision concave='yes' name='collision_3'>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>part3.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>part3.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>1 1 0 1</diffuse>
|
|
<specular>0.1 0.1 0.1 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
<model name='part4.obj'>
|
|
<static>1</static>
|
|
<pose frame=''>0 0 0 0 0 0</pose>
|
|
<link name='link_d4'>
|
|
<inertial>
|
|
<mass>0</mass>
|
|
<inertia>
|
|
<ixx>0.166667</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.166667</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.166667</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision concave='yes' name='collision_4'>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>part4.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>part4.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>0.5 0.5 1 1.000000</diffuse>
|
|
<specular>0.1 0.1 0.1 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
<model name='part5.obj'>
|
|
<static>1</static>
|
|
<pose frame=''>0 0 0 0 0 0</pose>
|
|
<link name='link_d5'>
|
|
<inertial>
|
|
<mass>0</mass>
|
|
<inertia>
|
|
<ixx>0.166667</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.166667</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.166667</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision concave='yes' name='collision_5'>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>part5.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>part5.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>0.6 0.6 1 .6</diffuse>
|
|
<specular>0.1 0.1 0.1 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
<model name='part6.obj'>
|
|
<static>1</static>
|
|
<pose frame=''>0 0 0 0 0 0</pose>
|
|
<link name='link_d6'>
|
|
<inertial>
|
|
<mass>0</mass>
|
|
<inertia>
|
|
<ixx>0.166667</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.166667</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.166667</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision concave='yes' name='collision_6'>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>part6.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='visual'>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>part6.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 1 1 1</ambient>
|
|
<diffuse>0.6 0.6 0.6 1.000000</diffuse>
|
|
<specular>0.1 0.1 0.1 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
</world>
|
|
</sdf>
|