# Including models with different pose has no effect

Hello there!

I'm new to Gazebo and the SDF format but by following the tutorials I was able to create models for parts of my hexapod robot. Now I'm trying to assemble some parts to complete a leg. Therefore I followed the corresponding tutorial here. This seemed very simple and it seems like I imported all the files correctly because the parts are appearing in the simulation when I place the Leg model.

The problem I have is that some <pose>-tags seem to be ignored by a model type (Servo).

Does anybody see my mistake?

Here's the code separated by model.sdf files

Leg-Model with working imports but wrong pose:

<?xml version="1.0"?>
<sdf version="1.4">
<model name="leg">
<static>true</static>
<include>
<pose>0 0 0 0 0 0</pose>
</include>

<include>
<!--            alpha servo-->
<uri>model://servo</uri>
<pose>.004 0 0 0 0 0</pose>
</include>

<include>
<pose>.030 0 0 0 0 0</pose>
</include>

<include>
<!--            beta servo-->
<uri>model://servo</uri>
<pose>.056 0 -.014 1.5708 0 0</pose>
</include>

<include>
<pose>.104 0 -.014 1.5708 0 0</pose>
</include>

<include>
<pose>.108 0 -.014 1.5708 3.1416 0</pose>
</include>

<include>
<!--                gammma servo-->
<uri>model://servo</uri>
<pose>.124 0 .002 1.5708 1.5708 0 </pose>
</include>

<include>
<!--                foot piece-->
<uri>model://footpiece</uri>
<pose>.124 0 -.026 0 1.5708 0</pose>
</include>
</model>
</sdf>


<?xml version="1.0"?>
<sdf version='1.4'>
<model name='Servo'>
<static>true</static>
<pose>.002 0 0 0 0 0</pose>

<collision name='collision'>
<geometry>
<box>
<size>.004 .025 .038</size>
</box>
</geometry>
</collision>

<visual name="visual">
<geometry>
<box>
<size>.004 .025 .038</size>
</box>
</geometry>
</visual>

</model>
</sdf>


Servo-Model:

<?xml version="1.0"?>
<sdf version='1.4'>
<model name='Servo'>
<static>true</static>
<pose>.024 0 0 0 0 0</pose>

<collision name='collision'>
<geometry>
<box>
<size>.048 .032 .038</size>
</box>
</geometry>
</collision>

<visual name="visual">
<geometry>
<box>
<size>.048 .032 .038</size>
</box>
</geometry>
</visual>

<pose>.037 0 .020 0 0 0</pose>

<collision name="collision">
<geometry>
<cylinder>
<length>.002</length>
</cylinder>
</geometry>
</collision>

<visual name="visual">
<geometry>
<cylinder>
<length>.002</length>
</cylinder>
</geometry>
</visual>

<pose>.037 0 -.020 0 0 0</pose>

<collision name="collision">
<geometry>
<cylinder>
<length>.002</length>
</cylinder>
</geometry>
</collision>

<visual name="visual">
<geometry>
<cylinder>
<length>.002</length>
</cylinder>
</geometry>
</visual>
</model>
</sdf>


<?xml version="1.0"?>
<sdf version='1.4'>
</box ...