pxmlw6n2f/Gazebo_Distributed_MPI/test/worlds/friction_cone.world

<?xml version="1.0" ?>
<!-- this file was generated using embedded ruby -->
<sdf version='1.6'>
  <world name='default'>
    <include>
      <uri>model://sun</uri>
    </include>
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <physics type="ode">
      <ode>
        <solver>
          <type>quick</type>
          <iters>50</iters>
          <friction_model>cone_model</friction_model>
        </solver>
      </ode>
    </physics>

    <model name='box_0'>
      <pose>9.0 0.0 0.1 0 -0 0</pose>
      <link name='link_1'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.02416666666666667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.02416666666666667</iyy>
            <iyz>0</iyz>
            <izz>0.041666666666666664</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.5 0.5 0.2</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.3</mu>
                <mu2>0.3</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.5 0.5 0.2</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
      </link>
      <plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
        <linear>9.0 0.0 0</linear>
        <angular>0 0 0</angular>
      </plugin>
    </model>

    <model name='box_1'>
      <pose>8.827067523629074 1.7558128981451542 0.1 0 -0 0</pose>
      <link name='link_1'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.02416666666666667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.02416666666666667</iyy>
            <iyz>0</iyz>
            <izz>0.041666666666666664</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.5 0.5 0.2</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.3</mu>
                <mu2>0.3</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.5 0.5 0.2</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
      </link>
      <plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
        <linear>8.827067523629074 1.7558128981451542 0</linear>
        <angular>0 0 0</angular>
      </plugin>
    </model>

    <model name='box_2'>
      <pose>8.31491579260158 3.444150891285808 0.1 0 -0 0</pose>
      <link name='link_1'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.02416666666666667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.02416666666666667</iyy>
            <iyz>0</iyz>
            <izz>0.041666666666666664</izz>
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        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.5 0.5 0.2</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.3</mu>
                <mu2>0.3</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.5 0.5 0.2</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
      </link>
      <plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
        <linear>8.31491579260158 3.444150891285808 0</linear>
        <angular>0 0 0</angular>
      </plugin>
    </model>

    <model name='box_3'>
      <pose>7.483226510722907 5.00013209717642 0.1 0 -0 0</pose>
      <link name='link_1'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.02416666666666667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.02416666666666667</iyy>
            <iyz>0</iyz>
            <izz>0.041666666666666664</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.5 0.5 0.2</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.3</mu>
                <mu2>0.3</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.5 0.5 0.2</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
      </link>
      <plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
        <linear>7.483226510722907 5.00013209717642 0</linear>
        <angular>0 0 0</angular>
      </plugin>
    </model>

    <model name='box_4'>
      <pose>6.3639610306789285 6.363961030678928 0.1 0 -0 0</pose>
      <link name='link_1'>
        <inertial>
          <mass>1</mass>
          <inertia>
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        <collision name='collision'>
          <geometry>
            <box>
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          <surface>
            <friction>
              <ode>
                <mu>0.3</mu>
                <mu2>0.3</mu2>
              </ode>
            </friction>
          </surface>
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        <visual name='visual'>
          <geometry>
            <box>
              <size>0.5 0.5 0.2</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
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      <plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
        <linear>6.3639610306789285 6.363961030678928 0</linear>
        <angular>0 0 0</angular>
      </plugin>
    </model>

    <model name='box_5'>
      <pose>5.0001320971764205 7.483226510722907 0.1 0 -0 0</pose>
      <link name='link_1'>
        <inertial>
          <mass>1</mass>
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        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.5 0.5 0.2</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.3</mu>
                <mu2>0.3</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.5 0.5 0.2</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
      </link>
      <plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
        <linear>5.0001320971764205 7.483226510722907 0</linear>
        <angular>0 0 0</angular>
      </plugin>
    </model>

    <model name='box_6'>
      <pose>3.4441508912858083 8.31491579260158 0.1 0 -0 0</pose>
      <link name='link_1'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.02416666666666667</ixx>
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            <ixz>0</ixz>
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        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.5 0.5 0.2</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.3</mu>
                <mu2>0.3</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.5 0.5 0.2</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
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      <plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
        <linear>3.4441508912858083 8.31491579260158 0</linear>
        <angular>0 0 0</angular>
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    </model>

    <model name='box_7'>
      <pose>1.755812898145155 8.827067523629074 0.1 0 -0 0</pose>
      <link name='link_1'>
        <inertial>
          <mass>1</mass>
          <inertia>
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        <collision name='collision'>
          <geometry>
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          <surface>
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                <mu2>0.3</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
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              <size>0.5 0.5 0.2</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
      </link>
      <plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
        <linear>1.755812898145155 8.827067523629074 0</linear>
        <angular>0 0 0</angular>
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    </model>

    <model name='box_8'>
      <pose>5.51091059616309e-16 9.0 0.1 0 -0 0</pose>
      <link name='link_1'>
        <inertial>
          <mass>1</mass>
          <inertia>
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        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
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          <surface>
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                <mu>0.3</mu>
                <mu2>0.3</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
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            </box>
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          <material>
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              <uri>file://media/materials/scripts/gazebo.material</uri>
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        </visual>
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      <plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
        <linear>5.51091059616309e-16 9.0 0</linear>
        <angular>0 0 0</angular>
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    </model>

    <model name='box_9'>
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      <link name='link_1'>
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        <collision name='collision'>
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        <visual name='visual'>
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          <material>
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    <model name='box_10'>
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        <visual name='visual'>
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    <model name='box_11'>
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            <box>
              <size>0.5 0.5 0.2</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
      </link>
      <plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
        <linear>8.827067523629072 -1.7558128981451584 0</linear>
        <angular>0 0 0</angular>
      </plugin>
    </model>

    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose>-0.93396 -19.9626 11.7572 0 0.503643 1.6562</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
  </world>
</sdf>