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pxmlw6n2f/Gazebo_Distributed_MPI/worlds/friction_demo.world

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add Gazebo_Distributed_MPI document
2019-04-18 10:27:54 +08:00
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<scene>
<ambient>1.000000 1.000000 1.000000 1.000000</ambient>
<background>0.700000 0.700000 0.700000 1.000000</background>
<shadows>1</shadows>
</scene>
<physics type="ode">
<gravity>0.000000 -1.000000 -1.000000</gravity>
<ode>
<solver>
<type>quick</type>
<iters>50</iters>
<precon_iters>0</precon_iters>
<sor>1.300000</sor>
</solver>
<constraints>
<cfm>0.000000</cfm>
<erp>0.200000</erp>
<contact_max_correcting_vel>100.000000</contact_max_correcting_vel>
<contact_surface_layer>0.001000</contact_surface_layer>
</constraints>
</ode>
<real_time_update_rate>0.000000</real_time_update_rate>
<max_step_size>0.001000</max_step_size>
</physics>
<model name="gplane">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<link name="plane">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<collision name="plane">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<plane>
<normal>0.000000 0.000000 1.000000</normal>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>50.000000</mu>
<mu2>50.000000</mu2>
<fdir1>0.000000 0.000000 0.000000</fdir1>
<slip1>0.000000</slip1>
<slip2>0.000000</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0.000000</restitution_coefficient>
<threshold>100000.000000</threshold>
</bounce>
<contact>
<ode>
<soft_cfm>0.000000</soft_cfm>
<soft_erp>0.200000</soft_erp>
<kp>1000000000.000000</kp>
<kd>1.000000</kd>
<max_vel>100.000000</max_vel>
<min_depth>0.001000</min_depth>
</ode>
</contact>
</surface>
<laser_retro>0.000000</laser_retro>
</collision>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<static>1</static>
</model>
<model name="box_01_model">
<allow_auto_disable>0</allow_auto_disable>
<pose>2.000000 8.000000 0.500000 0.000000 -0.000000 0.000000</pose>
<link name="box_01_body">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
<inertia>
<ixx>10.000000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>10.000000</iyy>
<iyz>0.000000</iyz>
<izz>10.000000</izz>
</inertia>
<mass>1.000000</mass>
</inertial>
<collision name="box_01_geom">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<box>
<size>1.000000 1.000000 1.000000</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.998000</mu>
<mu2>0.998000</mu2>
<fdir1>0.000000 0.000000 0.000000</fdir1>
<slip1>0.000000</slip1>
<slip2>0.000000</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0.000000</restitution_coefficient>
<threshold>100000.000000</threshold>
</bounce>
<contact>
<ode>
<soft_cfm>0.000000</soft_cfm>
<soft_erp>0.200000</soft_erp>
<kp>100000.000000</kp>
<kd>1.000000</kd>
<max_vel>100.000000</max_vel>
<min_depth>0.001000</min_depth>
</ode>
</contact>
</surface>
<laser_retro>0.000000</laser_retro>
</collision>
<visual name="box_01_geom_visual">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<box>
<size>1.000000 1.000000 1.000000</size>
</box>
</geometry>
<material>
<script>Gazebo/Rocky</script>
</material>
<cast_shadows>1</cast_shadows>
<laser_retro>0.000000</laser_retro>
<transparency>0.000000</transparency>
</visual>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<static>0</static>
</model>
<model name="box_02_model">
<allow_auto_disable>0</allow_auto_disable>
<pose>4.000000 8.000000 0.500000 0.000000 -0.000000 0.000000</pose>
<link name="box_02_body">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
<inertia>
<ixx>10.000000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>10.000000</iyy>
<iyz>0.000000</iyz>
<izz>10.000000</izz>
</inertia>
<mass>1.000000</mass>
</inertial>
<collision name="box_02_geom">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<box>
<size>1.000000 1.000000 1.000000</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.998500</mu>
<mu2>0.998500</mu2>
<fdir1>0.000000 0.000000 0.000000</fdir1>
<slip1>0.000000</slip1>
<slip2>0.000000</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0.000000</restitution_coefficient>
<threshold>100000.000000</threshold>
</bounce>
<contact>
<ode>
<soft_cfm>0.000000</soft_cfm>
<soft_erp>0.200000</soft_erp>
<kp>100000.000000</kp>
<kd>1.000000</kd>
<max_vel>100.000000</max_vel>
<min_depth>0.001000</min_depth>
</ode>
</contact>
</surface>
<laser_retro>0.000000</laser_retro>
</collision>
<visual name="box_02_geom_visual">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<box>
<size>1.000000 1.000000 1.000000</size>
</box>
</geometry>
<material>
<script>Gazebo/Rocky</script>
</material>
<cast_shadows>1</cast_shadows>
<laser_retro>0.000000</laser_retro>
<transparency>0.000000</transparency>
</visual>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<static>0</static>
</model>
<model name="box_03_model">
<allow_auto_disable>0</allow_auto_disable>
<pose>6.000000 8.000000 0.500000 0.000000 -0.000000 0.000000</pose>
<link name="box_03_body">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
<inertia>
<ixx>10.000000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>10.000000</iyy>
<iyz>0.000000</iyz>
<izz>10.000000</izz>
</inertia>
<mass>1.000000</mass>
</inertial>
<collision name="box_03_geom">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<box>
<size>1.000000 1.000000 1.000000</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.999000</mu>
<mu2>0.999000</mu2>
<fdir1>0.000000 0.000000 0.000000</fdir1>
<slip1>0.000000</slip1>
<slip2>0.000000</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0.000000</restitution_coefficient>
<threshold>100000.000000</threshold>
</bounce>
<contact>
<ode>
<soft_cfm>0.000000</soft_cfm>
<soft_erp>0.200000</soft_erp>
<kp>100000.000000</kp>
<kd>1.000000</kd>
<max_vel>100.000000</max_vel>
<min_depth>0.001000</min_depth>
</ode>
</contact>
</surface>
<laser_retro>0.000000</laser_retro>
</collision>
<visual name="box_03_geom_visual">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<box>
<size>1.000000 1.000000 1.000000</size>
</box>
</geometry>
<material>
<script>Gazebo/Rocky</script>
</material>
<cast_shadows>1</cast_shadows>
<laser_retro>0.000000</laser_retro>
<transparency>0.000000</transparency>
</visual>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<static>0</static>
</model>
<model name="box_04_model">
<allow_auto_disable>0</allow_auto_disable>
<pose>8.000000 8.000000 0.500000 0.000000 -0.000000 0.000000</pose>
<link name="box_04_body">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
<inertia>
<ixx>10.000000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>10.000000</iyy>
<iyz>0.000000</iyz>
<izz>10.000000</izz>
</inertia>
<mass>1.000000</mass>
</inertial>
<collision name="box_04_geom">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<box>
<size>1.000000 1.000000 1.000000</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.999500</mu>
<mu2>0.999500</mu2>
<fdir1>0.000000 0.000000 0.000000</fdir1>
<slip1>0.000000</slip1>
<slip2>0.000000</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0.000000</restitution_coefficient>
<threshold>100000.000000</threshold>
</bounce>
<contact>
<ode>
<soft_cfm>0.000000</soft_cfm>
<soft_erp>0.200000</soft_erp>
<kp>100000.000000</kp>
<kd>1.000000</kd>
<max_vel>100.000000</max_vel>
<min_depth>0.001000</min_depth>
</ode>
</contact>
</surface>
<laser_retro>0.000000</laser_retro>
</collision>
<visual name="box_04_geom_visual">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<box>
<size>1.000000 1.000000 1.000000</size>
</box>
</geometry>
<material>
<script>Gazebo/Rocky</script>
</material>
<cast_shadows>1</cast_shadows>
<laser_retro>0.000000</laser_retro>
<transparency>0.000000</transparency>
</visual>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<static>0</static>
</model>
<model name="box_05_model">
<allow_auto_disable>0</allow_auto_disable>
<pose>10.000000 8.000000 0.500000 0.000000 -0.000000 0.000000</pose>
<link name="box_05_body">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
<inertia>
<ixx>10.000000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>10.000000</iyy>
<iyz>0.000000</iyz>
<izz>10.000000</izz>
</inertia>
<mass>1.000000</mass>
</inertial>
<collision name="box_05_geom">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<box>
<size>1.000000 1.000000 1.000000</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1.000000</mu>
<mu2>1.000000</mu2>
<fdir1>0.000000 0.000000 0.000000</fdir1>
<slip1>0.000000</slip1>
<slip2>0.000000</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0.000000</restitution_coefficient>
<threshold>100000.000000</threshold>
</bounce>
<contact>
<ode>
<soft_cfm>0.000000</soft_cfm>
<soft_erp>0.200000</soft_erp>
<kp>100000.000000</kp>
<kd>1.000000</kd>
<max_vel>100.000000</max_vel>
<min_depth>0.001000</min_depth>
</ode>
</contact>
</surface>
<laser_retro>0.000000</laser_retro>
</collision>
<visual name="box_05_geom_visual">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<box>
<size>1.000000 1.000000 1.000000</size>
</box>
</geometry>
<material>
<script>Gazebo/Rocky</script>
</material>
<cast_shadows>1</cast_shadows>
<laser_retro>0.000000</laser_retro>
<transparency>0.000000</transparency>
</visual>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<static>0</static>
</model>
<model name="box_06_model">
<allow_auto_disable>0</allow_auto_disable>
<pose>12.000000 8.000000 0.500000 0.000000 -0.000000 0.000000</pose>
<link name="box_06_body">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<inertial>
<pose>0.000000 0.000000 -0.500000 0.000000 -0.000000 0.000000</pose>
<inertia>
<ixx>10.000000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>10.000000</iyy>
<iyz>0.000000</iyz>
<izz>10.000000</izz>
</inertia>
<mass>1.000000</mass>
</inertial>
<collision name="box_06_geom">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<box>
<size>1.000000 1.000000 1.000000</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1.010000</mu>
<mu2>1.010000</mu2>
<fdir1>0.000000 0.000000 0.000000</fdir1>
<slip1>0.000000</slip1>
<slip2>0.000000</slip2>
</ode>
</friction>
<bounce>
<restitution_coefficient>0.000000</restitution_coefficient>
<threshold>100000.000000</threshold>
</bounce>
<contact>
<ode>
<soft_cfm>0.000000</soft_cfm>
<soft_erp>0.200000</soft_erp>
<kp>100000.000000</kp>
<kd>1.000000</kd>
<max_vel>100.000000</max_vel>
<min_depth>0.001000</min_depth>
</ode>
</contact>
</surface>
<laser_retro>0.000000</laser_retro>
</collision>
<visual name="box_06_geom_visual">
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<box>
<size>1.000000 1.000000 1.000000</size>
</box>
</geometry>
<material>
<script>Gazebo/Rocky</script>
</material>
<cast_shadows>1</cast_shadows>
<laser_retro>0.000000</laser_retro>
<transparency>0.000000</transparency>
</visual>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<static>0</static>
</model>
</world>
</sdf>