Revision: 8771
http://playerstage.svn.sourceforge.net/playerstage/?rev=8771&view=rev
Author: natepak
Date: 2010-06-22 21:45:59 +0000 (Tue, 22 Jun 2010)
Log Message:
-----------
Moved when the sensor manager is updated
Modified Paths:
--------------
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/worlds/empty.world
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2010-06-22 21:42:18 UTC (rev 8770)
+++ code/gazebo/trunk/server/World.cc 2010-06-22 21:45:59 UTC (rev 8771)
@@ -355,9 +355,6 @@
}
- /// Update all the sensors
- SensorManager::Instance()->Update();
-
if (!Simulator::Instance()->IsPaused() &&
Simulator::Instance()->GetPhysicsEnabled())
{
@@ -373,6 +370,10 @@
}*/
}
+ /// Update all the sensors
+ SensorManager::Instance()->Update();
+
+
this->factory->Update();
this->worldUpdateEndSignal();
Modified: code/gazebo/trunk/worlds/empty.world
===================================================================
--- code/gazebo/trunk/worlds/empty.world 2010-06-22 21:42:18 UTC (rev
8770)
+++ code/gazebo/trunk/worlds/empty.world 2010-06-22 21:45:59 UTC (rev
8771)
@@ -41,11 +41,11 @@
<rendering:ogre>
<ambient>0 0 0 1</ambient>
<shadows>true</shadows>
- <grid>false</grid>
+ <grid>false</grid>
</rendering:ogre>
- <!-- Ground Plane -->
- <model:physical name="plane1_model">
+ <!-- Ground Plane -->
+ <model:physical name="plane1_model">
<xyz>0 0 0</xyz>
<rpy>0 0 0</rpy>
<static>true</static>
@@ -77,4 +77,729 @@
</light>
</model:renderable>
+ <model:physical name="continuous_pendulum">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <body:box name="link1">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 0 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link1_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/GrassFloor</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link1_joint">
+ <body1>link1</body1>
+ <body2>world</body2>
+ <anchor>link1</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link2">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 1 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link2_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link2_joint">
+ <body1>link2</body1>
+ <body2>link1</body2>
+ <anchor>link2</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link3">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 2 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link3_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link3_joint">
+ <body1>link3</body1>
+ <body2>link2</body2>
+ <anchor>link3</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link4">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 3 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link4_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link4_joint">
+ <body1>link4</body1>
+ <body2>link3</body2>
+ <anchor>link4</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link5">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 4 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link5_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link5_joint">
+ <body1>link5</body1>
+ <body2>link4</body2>
+ <anchor>link5</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link6">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 5 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link6_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link6_joint">
+ <body1>link6</body1>
+ <body2>link5</body2>
+ <anchor>link6</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link7">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 6 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link7_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link7_joint">
+ <body1>link7</body1>
+ <body2>link6</body2>
+ <anchor>link7</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link8">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 7 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link8_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link8_joint">
+ <body1>link8</body1>
+ <body2>link7</body2>
+ <anchor>link8</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link9">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 8 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link9_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link9_joint">
+ <body1>link9</body1>
+ <body2>link8</body2>
+ <anchor>link9</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link10">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 9 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link10_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link10_joint">
+ <body1>link10</body1>
+ <body2>link9</body2>
+ <anchor>link10</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link11">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 10 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link11_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link11_joint">
+ <body1>link11</body1>
+ <body2>link10</body2>
+ <anchor>link11</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link12">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 11 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link12_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link12_joint">
+ <body1>link12</body1>
+ <body2>link11</body2>
+ <anchor>link12</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link13">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 12 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link13_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link13_joint">
+ <body1>link13</body1>
+ <body2>link12</body2>
+ <anchor>link13</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link14">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 13 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link14_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link14_joint">
+ <body1>link14</body1>
+ <body2>link13</body2>
+ <anchor>link14</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link15">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 14 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link15_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link15_joint">
+ <body1>link15</body1>
+ <body2>link14</body2>
+ <anchor>link15</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link16">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 15 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link16_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link16_joint">
+ <body1>link16</body1>
+ <body2>link15</body2>
+ <anchor>link16</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link17">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 16 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link17_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link17_joint">
+ <body1>link17</body1>
+ <body2>link16</body2>
+ <anchor>link17</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link18">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 17 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link18_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link18_joint">
+ <body1>link18</body1>
+ <body2>link17</body2>
+ <anchor>link18</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link19">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 18 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link19_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link19_joint">
+ <body1>link19</body1>
+ <body2>link18</body2>
+ <anchor>link19</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <body:box name="link20">
+ <massMatrix>true</massMatrix>
+ <mass>1</mass>
+ <ixx>0</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0</iyy>
+ <iyz>0</iyz>
+ <izz>0</izz>
+ <cx>0</cx>
+ <cy>1</cy>
+ <cz>0</cz>
+ <xyz>0 19 35</xyz>
+ <rpy>0 -0 0</rpy>
+ <geom:box name="link20_geom">
+ <xyz>0 0.5 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <size>0.2 1 0.2</size>
+ <visual>
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <scale>0.2 1 0.2</scale>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/LightWood</material>
+ </visual>
+ </geom:box>
+ <turnGravityOff>false</turnGravityOff>
+ <selfCollide>false</selfCollide>
+ </body:box>
+ <joint:hinge name="link20_joint">
+ <body1>link20</body1>
+ <body2>link19</body2>
+ <anchor>link20</anchor>
+ <axis>1 0 0</axis>
+ <damping>0</damping>
+ </joint:hinge>
+ <static>false</static>
+ </model:physical>
</gazebo:world>
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