sample_model.sdf

<?xml version="1.0"?>
<sdf version="1.4">
  <model name="legtool">
    <static>false</static>



    <link name="chassis">
      <pose>0 0 0.400000 0 0 0</pose>
      <inertial>
        <mass>1.050000</mass>
        <inertia>
          <ixx>0.015162</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.015162</iyy>
          <iyz>0.00</iyz>
          <izz>0.015162</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><box><size>0.190000 0.190000 0.034000</size></box></geometry>
      </collision>
      <visual name="visual">
        <geometry><box><size>0.190000 0.190000 0.034000</size></box></geometry>
      </visual>
    </link>


    <link name="pan_aeg">
      <pose>0.000000 0.010000 0.459000 0.000000 0.000000 0.000000</pose>
      <inertial>
        <mass>0.100000</mass>
        <inertia>
          <ixx>0.000160</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000160</iyy>
          <iyz>0.00</iyz>
          <izz>0.000160</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><box><size>0.020000 0.040000 0.025000</size></box></geometry>
      
      </collision>
      <visual name="visual">
        <geometry><box><size>0.020000 0.040000 0.025000</size></box></geometry>
      
      </visual>
    </link>


    <joint type="revolute" name="pan_aeg_hinge">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>pan_aeg</child>
      <parent>chassis</parent>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
        <limit>
          <effort>1.200000</effort>
          <velocity>3.0</velocity>
        </limit>
      </axis>
    </joint>


    <!-- <link name="weapon_assembly"> -->
    <!--   <pose>0.000000 0.010000 0.479000 0.000000 0.000000 0.000000</pose> -->
    <!--   <inertial> -->
    <!--     <mass>0.550000</mass> -->
    <!--     <inertia> -->
    <!--       <ixx>0.026400</ixx> -->
    <!--       <ixy>0.00</ixy> -->
    <!--       <ixz>0.00</ixz> -->
    <!--       <iyy>0.026400</iyy> -->
    <!--       <iyz>0.00</iyz> -->
    <!--       <izz>0.026400</izz> -->
    <!--     </inertia> -->
    <!--   </inertial> -->
    <!--   <visual name="visual"> -->
    <!--     <geometry><box><size>0.150000 0.035000 0.150000</size></box></geometry> -->
      
    <!--   </visual> -->
    <!-- </link> -->


    <joint type="revolute" name="weapon_assembly_hinge">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>weapon_assembly</child>
      <parent>pan_aeg</parent>
      <axis>
        <xyz>1.000000 0.000000 0.000000</xyz>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
        <limit>
          <effort>1.200000</effort>
          <velocity>3.0</velocity>
        </limit>
      </axis>
    </joint>


    <link name="coxa0">
      <pose>0.100000 0.081000 0.411000 0.000000 0.000000 0.000000</pose>
      <inertial>
        <mass>0.067000</mass>
        <inertia>
          <ixx>0.000965</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000965</iyy>
          <iyz>0.00</iyz>
          <izz>0.000965</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><box><size>0.060000 0.030000 0.035000</size></box></geometry>
      
      </collision>
      <visual name="visual">
        <geometry><box><size>0.060000 0.030000 0.035000</size></box></geometry>
      </visual>
    </link>


    <joint type="revolute" name="coxa_hinge0">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>coxa0</child>
      <parent>chassis</parent>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
        <limit>
          <effort>1.200000</effort>
          <velocity>3.0</velocity>
        </limit>
      </axis>
    </joint>


    <link name="femur0">
      <pose>0.160000 0.081000 0.411000 0.000000 0.000000 0.000000</pose>
      <inertial>
        <mass>0.067000</mass>
        <inertia>
          <ixx>0.000965</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000965</iyy>
          <iyz>0.00</iyz>
          <izz>0.000965</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><box><size>0.060000 0.035000 0.030000</size></box></geometry>
      
      </collision>
      <visual name="visual">
        <geometry><box><size>0.060000 0.035000 0.030000</size></box></geometry>
      
      </visual>
    </link>


    <joint type="revolute" name="femur_hinge0">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>femur0</child>
      <parent>coxa0</parent>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
        <limit>
          <effort>1.200000</effort>
          <velocity>3.0</velocity>
        </limit>
      </axis>
    </joint>


    <link name="tibia0">
      <pose>0.220000 0.081000 0.411000 0.000000 0.000000 0.000000</pose>
      <inertial>
        <mass>0.067000</mass>
        <inertia>
          <ixx>0.000965</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000965</iyy>
          <iyz>0.00</iyz>
          <izz>0.000965</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><box><size>0.060000 0.035000 0.030000</size></box></geometry>
      
      </collision> 
      <visual name="visual">
        <geometry><box><size>0.060000 0.035000 0.030000</size></box></geometry>
      
      </visual>
   </link>


    <joint type="revolute" name="tibia_hinge0">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>tibia0</child>
      <parent>femur0</parent>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
        <limit>
          <effort>1.200000</effort>
          <velocity>3.0</velocity>
        </limit>
      </axis>
    </joint>


    <link name="tip0">
      <pose>0.280000 0.081000 0.411000 0 0 0</pose>
      <inertial>
        <mass>0.020000</mass>
        <inertia>
          <ixx>0.000002</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000002</iyy>
          <iyz>0.00</iyz>
          <izz>0.000002</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><sphere><radius>0.012000</radius></sphere></geometry>
        
      </collision>
      <visual name="visual">
        <geometry><sphere><radius>0.012000</radius></sphere></geometry>
      </visual>
    </link>


    <joint type="revolute" name="tip_hinge0">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>tip0</child>
      <parent>tibia0</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
      </axis>
    </joint>


    <link name="coxa1">
      <pose>0.100000 -0.081000 0.411000 0.000000 0.000000 0.000000</pose>
      <inertial>
        <mass>0.067000</mass>
        <inertia>
          <ixx>0.000965</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000965</iyy>
          <iyz>0.00</iyz>
          <izz>0.000965</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><box><size>0.060000 0.030000 0.035000</size></box></geometry>
      
      </collision>
      <visual name="visual">
        <geometry><box><size>0.060000 0.030000 0.035000</size></box></geometry>
      
      </visual>
    </link>


    <joint type="revolute" name="coxa_hinge1">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>coxa1</child>
      <parent>chassis</parent>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
        <limit>
          <effort>1.200000</effort>
          <velocity>3.0</velocity>
        </limit>
      </axis>
    </joint>


    <link name="femur1">
      <pose>0.160000 -0.081000 0.411000 0.000000 0.000000 0.000000</pose>
      <inertial>
        <mass>0.067000</mass>
        <inertia>
          <ixx>0.000965</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000965</iyy>
          <iyz>0.00</iyz>
          <izz>0.000965</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><box><size>0.060000 0.035000 0.030000</size></box></geometry>
      
      </collision>
      <visual name="visual">
        <geometry><box><size>0.060000 0.035000 0.030000</size></box></geometry>
      
      </visual>
    </link>


    <joint type="revolute" name="femur_hinge1">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>femur1</child>
      <parent>coxa1</parent>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
        <limit>
          <effort>1.200000</effort>
          <velocity>3.0</velocity>
        </limit>
      </axis>
    </joint>


    <link name="tibia1">
      <pose>0.220000 -0.081000 0.411000 0.000000 0.000000 0.000000</pose>
      <inertial>
        <mass>0.067000</mass>
        <inertia>
          <ixx>0.000965</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000965</iyy>
          <iyz>0.00</iyz>
          <izz>0.000965</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><box><size>0.060000 0.035000 0.030000</size></box></geometry>
      
      </collision>
      <visual name="visual">
        <geometry><box><size>0.060000 0.035000 0.030000</size></box></geometry>
      
      </visual>
    </link>


    <joint type="revolute" name="tibia_hinge1">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>tibia1</child>
      <parent>femur1</parent>
      <axis>
        <xyz>0.000000 1.000000 0.000000</xyz>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
        <limit>
          <effort>1.200000</effort>
          <velocity>3.0</velocity>
        </limit>
      </axis>
    </joint>


    <link name="tip1">
      <pose>0.280000 -0.081000 0.411000 0 0 0</pose>
      <inertial>
        <mass>0.020000</mass>
        <inertia>
          <ixx>0.000002</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000002</iyy>
          <iyz>0.00</iyz>
          <izz>0.000002</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><sphere><radius>0.012000</radius></sphere></geometry>
        
      </collision>
      <visual name="visual">
        <geometry><sphere><radius>0.012000</radius></sphere></geometry>
      </visual>
    </link>


    <joint type="revolute" name="tip_hinge1">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>tip1</child>
      <parent>tibia1</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
      </axis>
    </joint>


    <link name="coxa2">
      <pose>-0.100000 -0.081000 0.411000 0.000000 0.000000 3.141593</pose>
      <inertial>
        <mass>0.067000</mass>
        <inertia>
          <ixx>0.000965</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000965</iyy>
          <iyz>0.00</iyz>
          <izz>0.000965</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><box><size>0.060000 0.030000 0.035000</size></box></geometry>
      
      </collision>
      <visual name="visual">
        <geometry><box><size>0.060000 0.030000 0.035000</size></box></geometry>
      
      </visual>
    </link>


    <joint type="revolute" name="coxa_hinge2">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>coxa2</child>
      <parent>chassis</parent>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
        <limit>
          <effort>1.200000</effort>
          <velocity>3.0</velocity>
        </limit>
      </axis>
    </joint>


    <link name="femur2">
      <pose>-0.160000 -0.081000 0.411000 0.000000 0.000000 3.141593</pose>
      <inertial>
        <mass>0.067000</mass>
        <inertia>
          <ixx>0.000965</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000965</iyy>
          <iyz>0.00</iyz>
          <izz>0.000965</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><box><size>0.060000 0.035000 0.030000</size></box></geometry>
      
      </collision>
      <visual name="visual">
        <geometry><box><size>0.060000 0.035000 0.030000</size></box></geometry>
      
      </visual>
    </link>


    <joint type="revolute" name="femur_hinge2">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>femur2</child>
      <parent>coxa2</parent>
      <axis>
        <xyz>0.000000 -1.000000 0.000000</xyz>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
        <limit>
          <effort>1.200000</effort>
          <velocity>3.0</velocity>
        </limit>
      </axis>
    </joint>


    <link name="tibia2">
      <pose>-0.220000 -0.081000 0.411000 0.000000 0.000000 3.141593</pose>
      <inertial>
        <mass>0.067000</mass>
        <inertia>
          <ixx>0.000965</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000965</iyy>
          <iyz>0.00</iyz>
          <izz>0.000965</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><box><size>0.060000 0.035000 0.030000</size></box></geometry>
      
      </collision>
      <visual name="visual">
        <geometry><box><size>0.060000 0.035000 0.030000</size></box></geometry>
      
      </visual>
    </link>


    <joint type="revolute" name="tibia_hinge2">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>tibia2</child>
      <parent>femur2</parent>
      <axis>
        <xyz>0.000000 -1.000000 0.000000</xyz>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
        <limit>
          <effort>1.200000</effort>
          <velocity>3.0</velocity>
        </limit>
      </axis>
    </joint>


    <link name="tip2">
      <pose>-0.280000 -0.081000 0.411000 0 0 0</pose>
      <inertial>
        <mass>0.020000</mass>
        <inertia>
          <ixx>0.000002</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000002</iyy>
          <iyz>0.00</iyz>
          <izz>0.000002</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><sphere><radius>0.012000</radius></sphere></geometry>
        
      </collision>
      <visual name="visual">
        <geometry><sphere><radius>0.012000</radius></sphere></geometry>
      </visual>
    </link>


    <joint type="revolute" name="tip_hinge2">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>tip2</child>
      <parent>tibia2</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
      </axis>
    </joint>


    <link name="coxa3">
      <pose>-0.100000 0.081000 0.411000 0.000000 0.000000 3.141593</pose>
      <inertial>
        <mass>0.067000</mass>
        <inertia>
          <ixx>0.000965</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000965</iyy>
          <iyz>0.00</iyz>
          <izz>0.000965</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><box><size>0.060000 0.030000 0.035000</size></box></geometry>
      
      </collision>
      <visual name="visual">
        <geometry><box><size>0.060000 0.030000 0.035000</size></box></geometry>
      
      </visual>
    </link>


    <joint type="revolute" name="coxa_hinge3">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>coxa3</child>
      <parent>chassis</parent>
      <axis>
        <xyz>0.000000 0.000000 1.000000</xyz>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
        <limit>
          <effort>1.200000</effort>
          <velocity>3.0</velocity>
        </limit>
      </axis>
    </joint>


    <link name="femur3">
      <pose>-0.160000 0.081000 0.411000 0.000000 0.000000 3.141593</pose>
      <inertial>
        <mass>0.067000</mass>
        <inertia>
          <ixx>0.000965</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000965</iyy>
          <iyz>0.00</iyz>
          <izz>0.000965</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><box><size>0.060000 0.035000 0.030000</size></box></geometry>
      
      </collision>
      <visual name="visual">
        <geometry><box><size>0.060000 0.035000 0.030000</size></box></geometry>
      
      </visual>
    </link>


    <joint type="revolute" name="femur_hinge3">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>femur3</child>
      <parent>coxa3</parent>
      <axis>
        <xyz>0.000000 -1.000000 0.000000</xyz>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
        <limit>
          <effort>1.200000</effort>
          <velocity>3.0</velocity>
        </limit>
      </axis>
    </joint>


    <link name="tibia3">
      <pose>-0.220000 0.081000 0.411000 0.000000 0.000000 3.141593</pose>
      <inertial>
        <mass>0.067000</mass>
        <inertia>
          <ixx>0.000965</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000965</iyy>
          <iyz>0.00</iyz>
          <izz>0.000965</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><box><size>0.060000 0.035000 0.030000</size></box></geometry>
      
      </collision>
      <visual name="visual">
        <geometry><box><size>0.060000 0.035000 0.030000</size></box></geometry>
      
      </visual>
    </link>


    <joint type="revolute" name="tibia_hinge3">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>tibia3</child>
      <parent>femur3</parent>
      <axis>
        <xyz>0.000000 -1.000000 0.000000</xyz>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
        <limit>
          <effort>1.200000</effort>
          <velocity>3.0</velocity>
        </limit>
      </axis>
    </joint>


    <link name="tip3">
      <pose>-0.280000 0.081000 0.411000 0 0 0</pose>
      <inertial>
        <mass>0.020000</mass>
        <inertia>
          <ixx>0.000002</ixx>
          <ixy>0.00</ixy>
          <ixz>0.00</ixz>
          <iyy>0.000002</iyy>
          <iyz>0.00</iyz>
          <izz>0.000002</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry><sphere><radius>0.012000</radius></sphere></geometry>
        
      </collision>
      <visual name="visual">
        <geometry><sphere><radius>0.012000</radius></sphere></geometry>
      </visual>
    </link>


    <joint type="revolute" name="tip_hinge3">
      <pose>0.000000 0.000000 0.000000 0 0 0</pose>
      <child>tip3</child>
      <parent>tibia3</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
        <dynamics><damping>0.1</damping><friction>0.1</friction></dynamics>
      </axis>
    </joint>


  </model>
</sdf>