161 lines
4.4 KiB
XML
161 lines
4.4 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.4">
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<world name="default">
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<physics type="ode">
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<gravity>1 0 0</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<iters>40</iters>
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<sor>1.0</sor>
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</solver>
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<constraints>
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<cfm>0.0</cfm>
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<erp>0.2</erp>
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<contact_max_correcting_vel>100.0</contact_max_correcting_vel>
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<contact_surface_layer>0.0</contact_surface_layer>
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</constraints>
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</ode>
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<real_time_update_rate>1000</real_time_update_rate>
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<max_step_size>0.001</max_step_size>
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</physics>
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<!-- A global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<model name="model_1">
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<pose>0 0 0 0 0 0</pose>
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<link name="link_1">
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<pose>0 0 0 0 0 0</pose>
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<inertia>
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<ixx>1.000000</ixx>
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<ixy>0.000000</ixy>
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<ixz>0.000000</ixz>
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<iyy>1.000000</iyy>
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<iyz>0.000000</iyz>
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<izz>1.000000</izz>
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</inertia>
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<mass>10.000000</mass>
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</inertial>
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<visual name="visual_cylinder">
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<pose>0 0 -0.5 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.100000</radius>
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<length>1.000000</length>
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</cylinder>
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</geometry>
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<material>
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<script>Gazebo/Green</script>
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</material>
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</visual>
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<collision name="collision_cylinder">
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<pose>0 0 -0.5 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.100000</radius>
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<length>1.000000</length>
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</cylinder>
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</geometry>
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</collision>
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</link>
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<link name="link_2">
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<pose>0 0 -1 0 0 0</pose>
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<inertial>
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<pose>0 0 -0.5 0 0 0</pose>
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<inertia>
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<ixx>1.000000</ixx>
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<ixy>0.000000</ixy>
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<ixz>0.000000</ixz>
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<iyy>1.000000</iyy>
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<iyz>0.000000</iyz>
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<izz>1.000000</izz>
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</inertia>
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<mass>10.000000</mass>
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</inertial>
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<visual name="visual_box">
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<pose>0 0 -0.5 0 0 0</pose>
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<geometry>
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<box>
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<size>0.100000 0.100000 1.000000</size>
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</box>
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</geometry>
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<material>
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<script>Gazebo/Red</script>
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</material>
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</visual>
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<collision name="collision_box">
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<pose>0 0 -0.5 0 0 0</pose>
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<max_contacts>250</max_contacts>
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<geometry>
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<box>
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<size>0.100000 0.100000 1.000000</size>
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</box>
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</geometry>
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</collision>
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<gravity>1</gravity>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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</link>
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<joint name="joint_0" type="revolute">
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<parent>world</parent>
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<child>link_1</child>
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<pose>0 0 0 0 0 0</pose>
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<axis>
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<limit>
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<!-- effectively fixed -->
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<lower>0.000000</lower>
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<upper>0.000000</upper>
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</limit>
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<dynamics>
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<damping>1.000000</damping>
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</dynamics>
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<xyz>1.000000 0.000000 0.000000</xyz>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<joint name="joint_1" type="universal">
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<parent>link_1</parent>
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<child>link_2</child>
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<pose>0 0 0 0 0 0</pose>
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<axis>
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<limit>
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<lower>-0.7</lower>
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<upper>0.7</upper>
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<effort>1000.000000</effort>
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<velocity>1000.000000</velocity>
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</limit>
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<dynamics>
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<damping>1000.000000</damping>
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</dynamics>
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<xyz>1.000000 0.000000 0.000000</xyz>
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</axis>
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<axis2>
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<limit>
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<lower>-0.7</lower>
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<upper>0.7</upper>
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<effort>1000.000000</effort>
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<velocity>1000.000000</velocity>
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</limit>
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<dynamics>
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<damping>2000.000000</damping>
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</dynamics>
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<xyz>0.000000 1.000000 0.000000</xyz>
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</axis2>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<static>0</static>
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</model>
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</world>
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</sdf>
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