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pxmlw6n2f/Gazebo_Distributed_TCP/worlds/joint_damping_demo.world

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2019-03-28 10:57:49 +08:00
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<gui>
<camera name="user_camera">
<pose>-60 0 5 0 0 0</pose>
</camera>
</gui>
<scene>
<ambient>0.5 0.5 0.5 1</ambient>
<background>0.5 0.5 0.5 1</background>
<shadows>false</shadows>
</scene>
<include>
<uri>model://sun</uri>
</include>
<physics type="ode">
<gravity>0.0 0.0 -9.81</gravity>
<ode>
<solver>
<type>quick</type>
<iters>100</iters>
<sor>1.0</sor>
</solver>
<constraints>
<cfm>0</cfm>
<erp>1.0</erp>
<contact_max_correcting_vel>0.0</contact_max_correcting_vel>
<contact_surface_layer>0.0</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.001</max_step_size>
</physics>
<model name="model_1_mass_1_damping_10000">
<pose>0.0 0.0 10.1 1.57079633 0.0 0.0</pose>
<link name="link_1">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>0.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0</iyy>
<iyz>0.0</iyz>
<izz>0.0</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<velocity_decay>
<linear>0.0</linear>
<angular>0.0</angular>
</velocity_decay>
<visual name="visual_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
<material>
<script>Gazebo/Green</script>
</material>
</visual>
<collision name="collision_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
</collision>
<gravity>true</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
<joint name="joint_0" type="revolute">
<parent>world</parent>
<child>link_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<dynamics>
<damping>10000.0</damping>
<friction>0.0</friction>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<static>false</static>
</model>
<model name="model_2_mass_01_damping_10">
<pose>1.0 0.0 10.1 1.57079633 0.0 0.0</pose>
<link name="link_1">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>0.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0</iyy>
<iyz>0.0</iyz>
<izz>0.0</izz>
</inertia>
<mass>0.1</mass>
</inertial>
<velocity_decay>
<linear>0.0</linear>
<angular>0.0</angular>
</velocity_decay>
<visual name="visual_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
<material>
<script>Gazebo/Green</script>
</material>
</visual>
<collision name="collision_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
</collision>
<gravity>true</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
<joint name="joint_0" type="revolute">
<parent>world</parent>
<child>link_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<dynamics>
<damping>10.0</damping>
<friction>0.0</friction>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<static>false</static>
</model>
<model name="model_3_mass_1_damping_10">
<pose>2.0 0.0 10.1 1.57079633 0.0 0.0</pose>
<link name="link_1">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>0.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0</iyy>
<iyz>0.0</iyz>
<izz>0.0</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<velocity_decay>
<linear>0.0</linear>
<angular>0.0</angular>
</velocity_decay>
<visual name="visual_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
<material>
<script>Gazebo/Green</script>
</material>
</visual>
<collision name="collision_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
</collision>
<gravity>true</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
<joint name="joint_0" type="revolute">
<parent>world</parent>
<child>link_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<dynamics>
<damping>10.0</damping>
<friction>0.0</friction>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<static>false</static>
</model>
<model name="model_4_mass_1_ixx_1_damping_10">
<pose>3.0 0.0 10.1 1.57079633 0.0 0.0</pose>
<link name="link_1">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>1.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0</iyy>
<iyz>0.0</iyz>
<izz>0.0</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<velocity_decay>
<linear>0.0</linear>
<angular>0.0</angular>
</velocity_decay>
<visual name="visual_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
<material>
<script>Gazebo/Green</script>
</material>
</visual>
<collision name="collision_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
</collision>
<gravity>true</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
<joint name="joint_0" type="revolute">
<parent>world</parent>
<child>link_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<dynamics>
<damping>10.0</damping>
<friction>0.0</friction>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<static>false</static>
</model>
<model name="model_5_mass_1_damping_1">
<pose>4.0 0.0 10.1 1.57079633 0.0 0.0</pose>
<link name="link_1">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>0.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0</iyy>
<iyz>0.0</iyz>
<izz>0.0</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<velocity_decay>
<linear>0.0</linear>
<angular>0.0</angular>
</velocity_decay>
<visual name="visual_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
<material>
<script>Gazebo/Green</script>
</material>
</visual>
<collision name="collision_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
</collision>
<gravity>true</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
<joint name="joint_0" type="revolute">
<parent>world</parent>
<child>link_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<dynamics>
<damping>1.0</damping>
<friction>0.0</friction>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<static>false</static>
</model>
<model name="model_6_mass_1_damping_10">
<pose>5.0 0.0 10.1 1.57079633 0.0 0.0</pose>
<link name="link_1">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>0.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0</iyy>
<iyz>0.0</iyz>
<izz>0.0</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<velocity_decay>
<linear>0.0</linear>
<angular>0.0</angular>
</velocity_decay>
<visual name="visual_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
<material>
<script>Gazebo/Green</script>
</material>
</visual>
<collision name="collision_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
</collision>
<gravity>true</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
<joint name="joint_0" type="revolute">
<parent>world</parent>
<child>link_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<dynamics>
<damping>10.0</damping>
<friction>0.0</friction>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<static>false</static>
</model>
<model name="model_7_mass_1_damping_100">
<pose>6.0 0.0 10.1 1.57079633 0.0 0.0</pose>
<link name="link_1">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>0.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0</iyy>
<iyz>0.0</iyz>
<izz>0.0</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<velocity_decay>
<linear>0.0</linear>
<angular>0.0</angular>
</velocity_decay>
<visual name="visual_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
<material>
<script>Gazebo/Green</script>
</material>
</visual>
<collision name="collision_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
</collision>
<gravity>true</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
<joint name="joint_0" type="revolute">
<parent>world</parent>
<child>link_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<dynamics>
<damping>100.0</damping>
<friction>0.0</friction>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<static>false</static>
</model>
<model name="model_8_mass_1_damping_1000">
<pose>7.0 0.0 10.1 1.57079633 0.0 0.0</pose>
<link name="link_1">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>0.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0</iyy>
<iyz>0.0</iyz>
<izz>0.0</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<velocity_decay>
<linear>0.0</linear>
<angular>0.0</angular>
</velocity_decay>
<visual name="visual_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
<material>
<script>Gazebo/Green</script>
</material>
</visual>
<collision name="collision_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
</collision>
<gravity>true</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
<joint name="joint_0" type="revolute">
<parent>world</parent>
<child>link_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<dynamics>
<damping>1000.0</damping>
<friction>0.0</friction>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<static>false</static>
</model>
<model name="model_9_mass_1_damping_0">
<pose>8.0 0.0 10.1 1.57079633 0.0 0.0</pose>
<link name="link_1">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>0.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0</iyy>
<iyz>0.0</iyz>
<izz>0.0</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<velocity_decay>
<linear>0.0</linear>
<angular>0.0</angular>
</velocity_decay>
<visual name="visual_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
<material>
<script>Gazebo/Green</script>
</material>
</visual>
<collision name="collision_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
</collision>
<gravity>true</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
<joint name="joint_0" type="revolute">
<parent>world</parent>
<child>link_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<dynamics>
<damping>0.0</damping>
<friction>0.0</friction>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<static>false</static>
</model>
<model name="model_10_mass_10_damping_0">
<pose>9.0 0.0 10.1 1.57079633 0.0 0.0</pose>
<link name="link_1">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<pose>0.0 0.0 -10.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>0.0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0</iyy>
<iyz>0.0</iyz>
<izz>0.0</izz>
</inertia>
<mass>10.0</mass>
</inertial>
<velocity_decay>
<linear>0.0</linear>
<angular>0.0</angular>
</velocity_decay>
<visual name="visual_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
<material>
<script>Gazebo/Green</script>
</material>
</visual>
<collision name="collision_cylinder">
<pose>0.0 0.0 -5.0 0.0 0.0 0.0</pose>
<max_contacts>250</max_contacts>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>10.0</length>
</cylinder>
</geometry>
</collision>
<gravity>true</gravity>
<self_collide>true</self_collide>
<kinematic>false</kinematic>
</link>
<joint name="joint_0" type="revolute">
<parent>world</parent>
<child>link_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>1.0 0.0 0.0</xyz>
<dynamics>
<damping>0.0</damping>
<friction>0.0</friction>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<static>false</static>
</model>
</world>
</sdf>