58 lines
1.6 KiB
XML
58 lines
1.6 KiB
XML
<?xml version='1.0' encoding='utf-8'?>
|
|
<sdf version="1.7">
|
|
<model name="assembly">
|
|
<link name="base_link">
|
|
<pose>0 0 0 0 0 0</pose>
|
|
</link>
|
|
<include>
|
|
<uri>model://box1</uri>
|
|
<name>box1</name>
|
|
<pose>-0.45 -0.055 0.46 -3.1415927 0.0 0.0</pose>
|
|
</include>
|
|
<include>
|
|
<uri>model://box1</uri>
|
|
<name>box2</name>
|
|
<pose>-0.45 0.0 0.46 -3.1415927 0.0 0.0</pose>
|
|
</include>
|
|
<include>
|
|
<uri>model://box1</uri>
|
|
<name>box3</name>
|
|
<pose>-0.45 0.055 0.46 -3.1415927 0.0 0.0</pose>
|
|
</include>
|
|
<include>
|
|
<uri>model://box1</uri>
|
|
<name>box4</name>
|
|
<pose>-0.45 0.0275 0.49 -3.1415927 0.0 0.0</pose>
|
|
</include>
|
|
<include>
|
|
<uri>model://box1</uri>
|
|
<name>box5</name>
|
|
<pose>-0.45 -0.0275 0.49 -3.1415927 0.0 0.0</pose>
|
|
</include>
|
|
<joint name="box1" type="fixed">
|
|
<parent>base_link</parent>
|
|
<child>box1</child>
|
|
<pose>-0.45 -0.055 0.46 -3.1415927 0.0 0.0</pose>
|
|
</joint>
|
|
<joint name="box2" type="fixed">
|
|
<parent>base_link</parent>
|
|
<child>box2</child>
|
|
<pose>-0.45 0.0 0.46 -3.1415927 0.0 0.0</pose>
|
|
</joint>
|
|
<joint name="box3" type="fixed">
|
|
<parent>base_link</parent>
|
|
<child>box3</child>
|
|
<pose>-0.45 0.055 0.46 -3.1415927 0.0 0.0</pose>
|
|
</joint>
|
|
<joint name="box4" type="fixed">
|
|
<parent>base_link</parent>
|
|
<child>box4</child>
|
|
<pose>-0.45 0.0275 0.49 -3.1415927 0.0 0.0</pose>
|
|
</joint>
|
|
<joint name="box5" type="fixed">
|
|
<parent>base_link</parent>
|
|
<child>box5</child>
|
|
<pose>-0.45 -0.0275 0.49 -3.1415927 0.0 0.0</pose>
|
|
</joint>
|
|
</model>
|
|
</sdf>
|