only_canonical_link_moves.sdf

<?xml version="1.0" encoding="UTF-8"?>
<sdf version="1.7">
  <world name="default">
    <plugin
      filename="ignition-gazebo-physics-system"
      name="ignition::gazebo::systems::Physics">
    </plugin>
    <plugin
      filename="ignition-gazebo-scene-broadcaster-system"
      name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>
    <light type="directional" name="sun">
      <pose>0 0 10 0 0 0</pose>
      <direction>-0.5 0.1 -0.9</direction>
    </light>

    <model name="ground_plane">
      <static>true</static>
      <link name="surface">
        <collision name="surface">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>2 2</size>
            </plane>
          </geometry>
        </collision>
      </link>
    </model>

    <!--
      base_link is the canonical link of cylinder1 and does not have a
      collision shape, so it will fall indefinitely. However, link0_outer
      has a collision shape, so it should fall until it hits the ground plane
      and then stop.
    -->
    <model name="cylinder1">
      <link name="base_link">
        <visual name="visual1">
          <geometry>
            <cylinder>
              <radius>0.2</radius>
              <length>0.1</length>
            </cylinder>
          </geometry>
          <material>
            <ambient>0.0 0.6 0.9 0.4</ambient>
            <diffuse>0.0 0.6 0.9 0.4</diffuse>
          </material>
        </visual>
      </link>
      <!--
        link0_outer is already resting on the ground plane, so it shouldn't
        move at all
      -->
      <link name="link0_outer">
        <pose>1 0 0 0 0 0</pose>
        <collision name="collision_disk">
          <geometry>
            <cylinder>
              <radius>0.2</radius>
              <length>0.2</length>
            </cylinder>
          </geometry>
        </collision>
        <visual name="visual1">
          <geometry>
            <cylinder>
              <radius>0.2</radius>
              <length>0.2</length>
            </cylinder>
          </geometry>
          <material>
            <ambient>0.6 0.6 0.9 1</ambient>
            <diffuse>0.6 0.6 0.9 1</diffuse>
            <specular>1.0 1.0 1.0 1</specular>
          </material>
        </visual>
      </link>
    </model>

    <!--
      Same as the model above, but mark the second link of this model as the
      canonical link. This is to test whether all links of a model are updated
      after a canonical link update is registered. By default, unless a
      canonical link is specified, then the first link of a model is the
      canonical link. We want to make sure that model/link poses update
      correctly regardless of the order of link updates that are
      received/processed.
    -->
    <model name="cylinder1_custom" canonical_link="base_link_custom">
      <pose>0 2 0 0 0 0</pose>
      <link name="link0_outer_custom">
        <pose>1 0 0 0 0 0</pose>
        <collision name="collision_disk">
          <geometry>
            <cylinder>
              <radius>0.2</radius>
              <length>0.2</length>
            </cylinder>
          </geometry>
        </collision>
        <visual name="visual1">
          <geometry>
            <cylinder>
              <radius>0.2</radius>
              <length>0.2</length>
            </cylinder>
          </geometry>
          <material>
            <ambient>0.6 0.6 0.9 1</ambient>
            <diffuse>0.6 0.6 0.9 1</diffuse>
            <specular>1.0 1.0 1.0 1</specular>
          </material>
        </visual>
      </link>

      <link name="base_link_custom">
        <visual name="visual1">
          <geometry>
            <cylinder>
              <radius>0.2</radius>
              <length>0.1</length>
            </cylinder>
          </geometry>
          <material>
            <ambient>0.0 0.6 0.9 0.4</ambient>
            <diffuse>0.0 0.6 0.9 0.4</diffuse>
          </material>
        </visual>
      </link>
    </model>

    <!--
      TODO(adlarkin) add a similar test with nested models in Edifice, since
      nested model support is limited in Dome.
    -->
  </world>
</sdf>