636 lines
24 KiB
Plaintext
636 lines
24 KiB
Plaintext
|
<?xml version="1.0" ?>
|
||
|
|
<sdf version="1.3">
|
||
|
|
<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>
|
||
|
|
<dt>0.001</dt>
|
||
|
|
<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>
|
||
|
|
</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>
|
||
|
|
</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>
|
||
|
|
</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>
|
||
|
|
</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>0.5</iyy>
|
||
|
|
<iyz>0.0</iyz>
|
||
|
|
<izz>0.5</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>
|
||
|
|
</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>
|
||
|
|
</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>
|
||
|
|
</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>
|
||
|
|
</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>
|
||
|
|
</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>
|
||
|
|
</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>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<static>false</static>
|
||
|
|
</model>
|
||
|
|
</world>
|
||
|
|
</sdf>
|