mirror of
https://gitlab.com/robossembler/assets-library.git
synced 2025-06-11 20:25:36 +03:00
111 lines
No EOL
3.1 KiB
Text
111 lines
No EOL
3.1 KiB
Text
<sdf version="1.7">
|
|
<world name="empty">
|
|
<gravity>0 0 -9.8</gravity>
|
|
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
|
|
<atmosphere type="adiabatic"></atmosphere>
|
|
<scene>
|
|
<ambient>0.4 0.4 0.4 1</ambient>
|
|
<background>0.7 0.7 0.7 1</background>
|
|
<shadows>true</shadows>
|
|
</scene>
|
|
<model name="ground_plane">
|
|
<static>true</static>
|
|
<link name="link">
|
|
<collision name="collision">
|
|
<geometry>
|
|
<plane>
|
|
<normal>0 0 1</normal>
|
|
<size>100 100</size>
|
|
</plane>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode></ode>
|
|
</friction>
|
|
<bounce></bounce>
|
|
<contact></contact>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<plane>
|
|
<normal>0 0 1</normal>
|
|
<size>100 100</size>
|
|
</plane>
|
|
</geometry>
|
|
<material>
|
|
<ambient>0.8 0.8 0.8 1</ambient>
|
|
<diffuse>0.8 0.8 0.8 1</diffuse>
|
|
<specular>0.8 0.8 0.8 1</specular>
|
|
</material>
|
|
</visual>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<mass>1</mass>
|
|
<inertia>
|
|
<ixx>1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<enable_wind>false</enable_wind>
|
|
</link>
|
|
<pose>0 0 0 0 -0 0</pose>
|
|
<self_collide>false</self_collide>
|
|
</model>
|
|
<model name="assembly">
|
|
<link name="base_link">
|
|
<pose>0 0 0 0 0 0</pose>
|
|
</link>
|
|
<include>
|
|
<name>board</name>
|
|
<uri>/board</uri>
|
|
<pose>-0.0 -0.0 -0.0 0.0 0.0 -89.99999999999999</pose>
|
|
</include>
|
|
<include>
|
|
<name>bishop</name>
|
|
<uri>/bishop</uri>
|
|
<pose>8.800000000000001e-05 1e-05 -2.5e-05 4.010704565915763e-13 4.0107045659157625e-13 -89.99999999999977</pose>
|
|
</include>
|
|
<include>
|
|
<name>king</name>
|
|
<uri>/king</uri>
|
|
<pose>2e-05 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
|
|
</include>
|
|
<include>
|
|
<name>knight</name>
|
|
<uri>/knight</uri>
|
|
<pose>0.00012200000000000001 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
|
|
</include>
|
|
<include>
|
|
<name>queen</name>
|
|
<uri>/queen</uri>
|
|
<pose>5.4000000000000005e-05 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
|
|
</include>
|
|
<joint name="bdf1ee76-2a94-404b-8b17-60ed3d3ba0df" type="fixed">
|
|
<parent>base_link</parent>
|
|
<child>bishop::bishop</child>
|
|
<pose>8.800000000000001e-05 1e-05 -2.5e-05 4.010704565915763e-13 4.0107045659157625e-13 -89.99999999999977</pose>
|
|
</joint>
|
|
<joint name="91bdb776-cc9f-474e-8672-76ade1b0cc82" type="fixed">
|
|
<parent>base_link</parent>
|
|
<child>king::king</child>
|
|
<pose>2e-05 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
|
|
</joint>
|
|
<joint name="c19e982c-d29e-43ca-b398-0aa520e30406" type="fixed">
|
|
<parent>base_link</parent>
|
|
<child>knight::knight</child>
|
|
<pose>0.00012200000000000001 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
|
|
</joint>
|
|
<joint name="07ca4e03-6e21-4f13-a7f0-189cec5b6775" type="fixed">
|
|
<parent>base_link</parent>
|
|
<child>queen::queen</child>
|
|
<pose>5.4000000000000005e-05 1e-05 -2.5e-05 0.0 0.0 -89.99999999999936</pose>
|
|
</joint>
|
|
</model>
|
|
</world>
|
|
</sdf> |