212 lines
5.4 KiB
XML
212 lines
5.4 KiB
XML
<?xml version="1.0" ?>
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<sdf version='1.5'>
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<world name='default'>
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<physics type='ode'>
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<ode>
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<solver>
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<iters>150</iters>
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</solver>
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</ode>
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</physics>
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<include>
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<uri>model://sun</uri>
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</include>
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<model name='cube1'>
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<pose>2.7 0 1.1050000000000002 0 0 0</pose>
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<allow_auto_disable>0</allow_auto_disable>
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<link name='link'>
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<inertial>
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<mass>45.56250000000001</mass>
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<inertia>
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<ixx>1.5377343750000003</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1.5377343750000003</iyy>
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<iyz>0</iyz>
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<izz>1.5377343750000003</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<box>
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<size>0.45 0.45 0.45</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode>
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<max_vel>0.1</max_vel>
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<min_depth>0.01</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>0.45 0.45 0.45</size>
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</box>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Wood</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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</link>
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</model>
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<model name='cube2'>
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<pose>-2.7 0 1.1050000000000002 0 0 0</pose>
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<allow_auto_disable>0</allow_auto_disable>
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<link name='link'>
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<inertial>
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<mass>45.56250000000001</mass>
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<inertia>
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<ixx>1.5377343750000003</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1.5377343750000003</iyy>
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<iyz>0</iyz>
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<izz>1.5377343750000003</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<box>
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<size>0.45 0.45 0.45</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode>
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<max_vel>0.1</max_vel>
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<min_depth>0.01</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>0.45 0.45 0.45</size>
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</box>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Wood</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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</link>
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</model>
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<model name='fulcrum'>
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<pose>0 0 0.4 0 0 0</pose>
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<allow_auto_disable>0</allow_auto_disable>
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<link name='link'>
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<inertial>
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<mass>20.000000000000004</mass>
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<inertia>
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<ixx>1.4833333333333338</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1.0833333333333337</iyy>
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<iyz>0</iyz>
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<izz>0.4333333333333334</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<box>
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<size>0.1 0.5 0.8</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode>
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<max_vel>0.1</max_vel>
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<min_depth>0.01</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>0.1 0.5 0.8</size>
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</box>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Wood</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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</link>
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</model>
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<model name='plank'>
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<pose>0 0 0.8400000000000001 0 0 0</pose>
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<allow_auto_disable>0</allow_auto_disable>
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<link name='link'>
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<inertial>
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<mass>120.0</mass>
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<inertia>
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<ixx>2.564</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>360.06399999999996</iyy>
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<iyz>0</iyz>
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<izz>362.5</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<box>
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<size>6.0 0.5 0.08</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode>
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<max_vel>0.1</max_vel>
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<min_depth>0.01</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size>6.0 0.5 0.08</size>
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</box>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Wood</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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</link>
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</model>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose>0 -7 2.41737 0 0.339643 1.5707963267948966</pose>
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<view_controller>orbit</view_controller>
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<projection_type>perspective</projection_type>
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</camera>
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</gui>
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</world>
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</sdf>
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