model.sdf

<?xml version='1.0'?>
<sdf version ='1.4'>
  <!-- model for qbmove-->
  <model name ='qbmove'>
   <static>false</static>
      <link name="flange">
        <pose>0.0 0.0 0.033 0 0 0</pose>
        <inertial>
          <pose>0 0 0.0 0 0 0</pose>
          <mass>0.02</mass>
          <inertia>
            <ixx>0.0015</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
          </inertia>
        </inertial>       
         <collision name="flange_collision">
          <pose>0.0 0.0 0.033 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.01</radius>
              <length>0.01</length>
            </cylinder>
          </geometry>
        </collision>
        <visual name="flange_visual">
          <pose>0.0 0 0.05 -1.57 0 3.14</pose>
          <geometry>
            <mesh>
             <uri>file://meshes/c_flange.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Blue</name>
            </script>
          </material>
        </visual>
      </link>
      <!---->
      <link name="mot1">
        <pose>0.016 -0.007 -0.002 0 95.0 0</pose>
        <inertial>
          <pose>0.016 -0.007 -0.002 0 95.0 0</pose>
          <mass>0.001</mass>
          <inertia>
            <ixx>0.01</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.01</iyy>
            <iyz>0</iyz>
            <izz>0.01</izz>
          </inertia>
        </inertial>
      </link>
      <!---->
       <link name="mot2">
        <pose>0.012 0.008 0.01 0 95.0 0</pose>
        <inertial>
          <pose>0.012 0.008 0.01 0 95.0 0</pose>
          <mass>0.001</mass>
          <inertia>
            <ixx>0.01</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.01</iyy>
            <iyz>0</iyz>
            <izz>0.01</izz>
          </inertia>
        </inertial>      
      </link>
      <!---->
      <!-- link -->
      <link name="cube">
        <pose>0 0 0.03 0.0 0 0</pose>
        <inertial>
          <pose>0 0.0 0.0 0 0 0</pose>
          <mass>1</mass>
          <inertia>
            <ixx>0.015625</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.015625</iyy>
            <iyz>0</iyz>
            <izz>0.015625</izz>
          </inertia>
        </inertial>
        <collision name="cube_collision">
          <pose>0 0 0.0 0.0 0 0</pose>
          <geometry>
            <box>
              <size>0.065 0.065 0.065</size>
            </box>
          </geometry>
        </collision>
        <visual name="cube_visual">
          <pose>0 0 0.0 0.0 1.57 0</pose>
          <geometry>
            <mesh>
             <uri>file://meshes/cube.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
      </link>
      <!-- join between links -->
      <joint name="output_shaft_joint" type="revolute">
        <parent>cube</parent>
        <child>flange</child>
        <pose>0.0 0.0 0.0 0 0 0</pose>
        <axis>
          <xyz>1 0 0</xyz>
        </axis>
      </joint>
      <joint name="motor1_joint" type="revolute">
         <parent>cube</parent>  
         <child>mot1</child>     
         <pose>0.016 -0.007 -0.002 0 0 0</pose>
        <axis>
          <xyz>1 0 0</xyz>
        </axis>
      </joint>
      <joint name="motor2_joint" type="revolute">
          <parent>cube</parent>
          <child>mot2</child>
          <pose>0.012 0.008 0.01 0 0 0</pose>
        <axis>
          <xyz>1 0 0</xyz>
        </axis>
      </joint>
  <plugin name="plugin_cubebot" filename="build/libqbmove_plugin.so" />
  </model>
</sdf>