nested.sdf

gistfile1.txt

<?xml version="1.0" ?>
<sdf version="1.7">
  <world name="nested_model_world">
    <physics name="1ms" type="ignored">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>
    <plugin
      filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
    </plugin>
    <plugin
      filename="gz-sim-user-commands-system"
      name="gz::sim::systems::UserCommands">
    </plugin>
    <plugin
      filename="gz-sim-scene-broadcaster-system"
      name="gz::sim::systems::SceneBroadcaster">
    </plugin>

    <scene>
      <ambient>1.0 1.0 1.0</ambient>
      <background>0.8 0.8 0.8</background>
    </scene>

    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.8 0.8 0.8 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>

    <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>
        </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>
      </link>
    </model>

    <model name="model_00">
      <pose>0 0 0.5 0 0 0</pose>
      <link name="link_00">
        <pose>0 0 1 0 0 0</pose>
        <collision name="collision_00">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name="visual_00">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
        </visual>
      </link>

      <model name="model_01">
        <pose>0 0 2.0 0 0 0</pose>
        <link name="link_11">
          <pose>0.0 0.5 0.0 0 0 0.0</pose>
          <collision name="collision_01">
            <geometry>
              <box>
                <size>1 1 1</size>
              </box>
            </geometry>
          </collision>
          <visual name="visual_01">
            <geometry>
              <box>
                <size>1 1 1</size>
              </box>
            </geometry>
          </visual>
        </link>

        <link name="link_21">
          <pose>0.0 0.5 1.5 0 0 0.0</pose>
          <collision name="collision_01">
            <geometry>
              <box>
                <size>1 1 1</size>
              </box>
            </geometry>
          </collision>
          <visual name="visual_01">
            <geometry>
              <box>
                <size>1 1 1</size>
              </box>
            </geometry>
          </visual>
        </link>

        <joint name="model_joint" type="prismatic">
          <parent>link_11</parent>
          <child>link_21</child>
          <axis>
             <limit>
              <lower>-1.0</lower>
              <upper>1</upper>
            </limit>
            <xyz>0 0 1</xyz>
          </axis>
        </joint>
      </model>

      <joint name="model_joint" type="prismatic">
        <parent>link_00</parent>
        <child>model_01::link_11</child>
        <axis>
           <limit>
            <lower>-1.0</lower>
            <upper>1</upper>
          </limit>
          <xyz>0 0 1</xyz>
        </axis>
      </joint>

    </model>

  </world>
</sdf>