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pxmlw6n2f/Gazebo_Distributed_TCP/test/worlds/friction_spheres.world

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2019-03-28 10:57:49 +08:00
<?xml version="1.0" ?>
<!-- this file was generated using embedded ruby -->
<sdf version='1.6'>
<world name='default'>
<gui>
<camera name='user_camera'>
<pose>17 3 22 0 1.1 3.141592653589793</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://ground_plane</uri>
</include>
<gravity>0 2 -9.81</gravity>
<model name="lowball_0.2a">
<pose>0 0 0 0 0 0</pose>
<link name="link">
<pose>0 0 0.2 0 0 0</pose>
<inertial>
<pose>0 0 -0.3 0 0 0</pose>
<mass>1.0</mass>
<inertia>
<ixx>0.016000000000000004</ixx>
<iyy>0.016000000000000004</iyy>
<izz>0.016000000000000004</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name='collision_a'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.2</slip1>
<slip2>0.2</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_a'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
</visual>
</link>
</model>
<model name="lowball_0.2b">
<pose>2 0 0 0 0 0</pose>
<link name="link">
<pose>0 0 0.2 0 0 0</pose>
<inertial>
<pose>0 0 -0.3 0 0 0</pose>
<mass>2.0</mass>
<inertia>
<ixx>0.03200000000000001</ixx>
<iyy>0.03200000000000001</iyy>
<izz>0.03200000000000001</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name='collision_a'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.1</slip1>
<slip2>0.1</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_a'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
</visual>
</link>
</model>
<model name="lowball_0.4a">
<pose>4 0 0 0 0 0</pose>
<link name="link">
<pose>0 0 0.2 0 0 0</pose>
<inertial>
<pose>0 0 -0.3 0 0 0</pose>
<mass>2.0</mass>
<inertia>
<ixx>0.03200000000000001</ixx>
<iyy>0.03200000000000001</iyy>
<izz>0.03200000000000001</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name='collision_a'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.2</slip1>
<slip2>0.2</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_a'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Green</name>
</script>
</material>
</visual>
</link>
</model>
<model name="lowball_0.4b">
<pose>6 0 0 0 0 0</pose>
<link name="link">
<pose>0 0 0.2 0 0 0</pose>
<inertial>
<pose>0 0 -0.3 0 0 0</pose>
<mass>4.0</mass>
<inertia>
<ixx>0.06400000000000002</ixx>
<iyy>0.06400000000000002</iyy>
<izz>0.06400000000000002</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name='collision_a'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.1</slip1>
<slip2>0.1</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_a'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Green</name>
</script>
</material>
</visual>
</link>
</model>
<model name="lowball_0.6a">
<pose>8 0 0 0 0 0</pose>
<link name="link">
<pose>0 0 0.2 0 0 0</pose>
<inertial>
<pose>0 0 -0.3 0 0 0</pose>
<mass>3.0</mass>
<inertia>
<ixx>0.048000000000000015</ixx>
<iyy>0.048000000000000015</iyy>
<izz>0.048000000000000015</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name='collision_a'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.2</slip1>
<slip2>0.2</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_a'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Blue</name>
</script>
</material>
</visual>
</link>
</model>
<model name="lowball_0.6b">
<pose>10 0 0 0 0 0</pose>
<link name="link">
<pose>0 0 0.2 0 0 0</pose>
<inertial>
<pose>0 0 -0.3 0 0 0</pose>
<mass>6.0</mass>
<inertia>
<ixx>0.09600000000000003</ixx>
<iyy>0.09600000000000003</iyy>
<izz>0.09600000000000003</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name='collision_a'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.1</slip1>
<slip2>0.1</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_a'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Blue</name>
</script>
</material>
</visual>
</link>
</model>
<model name="twoball_0.2a">
<pose>0 -2 0 0 0 0</pose>
<link name="link">
<pose>0 0 0.2 0 0 0</pose>
<inertial>
<pose>0 0.0 0 0 0 0</pose>
<mass>1.0</mass>
<inertia>
<ixx>0.09933333333333336</ixx>
<iyy>0.016000000000000004</iyy>
<izz>0.09933333333333336</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name='collision_a'>
<pose>0 0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.2</slip1>
<slip2>0.2</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_a'>
<pose>0 0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
</visual>
<collision name='collision_b'>
<pose>0 -0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.2</slip1>
<slip2>0.2</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_b'>
<pose>0 -0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
</visual>
</link>
</model>
<model name="twoball_0.2b">
<pose>2 -2 0 0 0 0</pose>
<link name="link">
<pose>0 0 0.2 0 0 0</pose>
<inertial>
<pose>0 0.0 0 0 0 0</pose>
<mass>2.0</mass>
<inertia>
<ixx>0.1986666666666667</ixx>
<iyy>0.03200000000000001</iyy>
<izz>0.1986666666666667</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name='collision_a'>
<pose>0 0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.1</slip1>
<slip2>0.1</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_a'>
<pose>0 0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
</visual>
<collision name='collision_b'>
<pose>0 -0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.1</slip1>
<slip2>0.1</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_b'>
<pose>0 -0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
</visual>
</link>
</model>
<model name="twoball_0.4a">
<pose>4 -2 0 0 0 0</pose>
<link name="link">
<pose>0 0 0.2 0 0 0</pose>
<inertial>
<pose>0 0.0 0 0 0 0</pose>
<mass>2.0</mass>
<inertia>
<ixx>0.1986666666666667</ixx>
<iyy>0.03200000000000001</iyy>
<izz>0.1986666666666667</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name='collision_a'>
<pose>0 0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.2</slip1>
<slip2>0.2</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_a'>
<pose>0 0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Green</name>
</script>
</material>
</visual>
<collision name='collision_b'>
<pose>0 -0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.2</slip1>
<slip2>0.2</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_b'>
<pose>0 -0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Green</name>
</script>
</material>
</visual>
</link>
</model>
<model name="twoball_0.4b">
<pose>6 -2 0 0 0 0</pose>
<link name="link">
<pose>0 0 0.2 0 0 0</pose>
<inertial>
<pose>0 0.0 0 0 0 0</pose>
<mass>4.0</mass>
<inertia>
<ixx>0.3973333333333334</ixx>
<iyy>0.06400000000000002</iyy>
<izz>0.3973333333333334</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name='collision_a'>
<pose>0 0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.1</slip1>
<slip2>0.1</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_a'>
<pose>0 0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Green</name>
</script>
</material>
</visual>
<collision name='collision_b'>
<pose>0 -0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.1</slip1>
<slip2>0.1</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_b'>
<pose>0 -0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Green</name>
</script>
</material>
</visual>
</link>
</model>
<model name="twoball_0.6a">
<pose>8 -2 0 0 0 0</pose>
<link name="link">
<pose>0 0 0.2 0 0 0</pose>
<inertial>
<pose>0 0.0 0 0 0 0</pose>
<mass>3.0</mass>
<inertia>
<ixx>0.29800000000000004</ixx>
<iyy>0.048000000000000015</iyy>
<izz>0.29800000000000004</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name='collision_a'>
<pose>0 0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.2</slip1>
<slip2>0.2</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_a'>
<pose>0 0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Blue</name>
</script>
</material>
</visual>
<collision name='collision_b'>
<pose>0 -0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.2</slip1>
<slip2>0.2</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_b'>
<pose>0 -0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Blue</name>
</script>
</material>
</visual>
</link>
</model>
<model name="twoball_0.6b">
<pose>10 -2 0 0 0 0</pose>
<link name="link">
<pose>0 0 0.2 0 0 0</pose>
<inertial>
<pose>0 0.0 0 0 0 0</pose>
<mass>6.0</mass>
<inertia>
<ixx>0.5960000000000001</ixx>
<iyy>0.09600000000000003</iyy>
<izz>0.5960000000000001</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name='collision_a'>
<pose>0 0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.1</slip1>
<slip2>0.1</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_a'>
<pose>0 0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Blue</name>
</script>
</material>
</visual>
<collision name='collision_b'>
<pose>0 -0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.1</slip1>
<slip2>0.1</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_b'>
<pose>0 -0.2886751345948129 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Blue</name>
</script>
</material>
</visual>
</link>
</model>
<model name="triball_0.2a">
<pose>0 -4 0 0 0 0</pose>
<link name="link">
<pose>0 0 0.2 0 0 0</pose>
<inertial>
<pose>0.0 0.0 0 0 0 0</pose>
<mass>1.0</mass>
<inertia>
<ixx>0.07155555555555557</ixx>
<iyy>0.07155555555555555</iyy>
<izz>0.12711111111111112</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name='collision_a'>
<pose>0.3333333333333333 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>0.5</mu2>
<slip1>0.2</slip1>
<slip2>0.2</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name='visual_a'>
<pose>0.3333333333333333 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.2</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
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