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pxmlw6n2f/Gazebo_Distributed_TCP/worlds/lift_drag_demo.world

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<?xml version="1.0" ?>
<sdf version="1.4">
<world name="default">
<physics type="ode">
<gravity>0.0 0.0 -10.0</gravity>
<ode>
<solver>
<type>quick</type>
<iters>50</iters>
<sor>0.8</sor>
</solver>
<constraints>
<cfm>0.0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
<contact_surface_layer>0.0</contact_surface_layer>
</constraints>
</ode>
<real_time_update_rate>0</real_time_update_rate>
<max_step_size>0.001</max_step_size>
</physics>
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://ground_plane</uri>
</include>
<model name="lift_drag_demo_model">
<pose>0 0 0 0 0 0</pose>
<static>false</static>
<link name="body">
<pose>0 0 0.5 0 0 0</pose>
<inertial>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<inertia>
<ixx>1.8</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>1.8</iyy>
<iyz>0.0</iyz>
<izz>1.8</izz>
</inertia>
<mass>10.0</mass>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.1</mu>
<mu2>0.1</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1.0</ambient>
<diffuse>.421 0.225 0.0 1.0</diffuse>
</material>
</visual>
</link>
<link name="rod_1">
<pose>0 0 1.25 0 0 0</pose>
<inertial>
<pose>0.0 0.0 0 0.0 0.0 0.0</pose>
<inertia>
<ixx>0.012</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.012</iyy>
<iyz>0.0</iyz>
<izz>0.0012</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.02 0.02 0.5</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.02 0.02 0.5</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1.0</ambient>
<diffuse>.421 0.225 0.0 1.0</diffuse>
</material>
</visual>
</link>
<link name="blade_1">
<pose>0 0 1.5 0 0 0</pose>
<inertial>
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
<inertia>
<ixx>0.0000465</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0000006</iyy>
<iyz>0.0</iyz>
<izz>0.0000470</izz>
</inertia>
<mass>0.01</mass>
</inertial>
<collision name="collision">
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.2 1.0 0.01</size>
</box>
</geometry>
</collision>
<visual name="visual">
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.2 1.0 0.01</size>
</box>
</geometry>
<material>
<ambient>0.5 0.2 0.2 1.0</ambient>
<diffuse>.421 0.225 0.0 1.0</diffuse>
</material>
</visual>
</link>
<link name="blade_2">
<pose>0 0 1.5 0 0 3.141593</pose>
<inertial>
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
<inertia>
<ixx>0.0000465</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0000006</iyy>
<iyz>0.0</iyz>
<izz>0.0000470</izz>
</inertia>
<mass>0.01</mass>
</inertial>
<collision name="collision">
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.2 1.0 0.01</size>
</box>
</geometry>
</collision>
<visual name="visual">
<pose>0.0 0.5 0 0.0 0.0 0</pose>
<geometry>
<box>
<size>0.2 1.0 0.01</size>
</box>
</geometry>
<material>
<ambient>0.2 0.5 0.2 1.0</ambient>
<diffuse>.421 0.225 0.0 1.0</diffuse>
</material>
</visual>
</link>
<joint name="rod_1_joint" type="revolute">
<parent>body</parent>
<child>rod_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<limit>
<lower>-1e16</lower>
<upper>1e16</upper>
</limit>
<xyz>0.0 0.0 -1.0</xyz>
<dynamics>
<damping>0.0001</damping>
</dynamics>
</axis>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint>
<joint name="blade_1_joint" type="revolute">
<parent>rod_1</parent>
<child>blade_1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<limit>
<lower>-0.0</lower>
<upper>0.0</upper>
</limit>
<xyz>0.0 1.0 0.0</xyz>
<dynamics>
<damping>1.000000</damping>
</dynamics>
</axis>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint>
<joint name="blade_2_joint" type="revolute">
<parent>rod_1</parent>
<child>blade_2</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<limit>
<lower>-0.0</lower>
<upper>0.0</upper>
</limit>
<xyz>0.0 -1.0 0.0</xyz>
<dynamics>
<damping>1.000000</damping>
</dynamics>
</axis>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint>
<!--
<joint name="gear_joint" type="gearbox">
<parent>blade_1</parent>
<child>blade_2</child>
<gearbox_ratio>-1.0</gearbox_ratio>
<gearbox_reference_body>rod_1</gearbox_reference_body>
<axis>
<xyz>0.000000 1.000000 0.000000</xyz>
</axis>
<axis2>
<xyz>0.000000 -1.000000 0.000000</xyz>
</axis2>
</joint>
-->
<link name="rod_2">
<pose>0 0 1.25 0 0 0</pose>
<inertial>
<pose>0.0 0.0 0 0.0 0.0 0.0</pose>
<inertia>
<ixx>0.012</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.012</iyy>
<iyz>0.0</iyz>
<izz>0.0012</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.02 0.02 0.5</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.02 0.02 0.5</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1.0</ambient>
<diffuse>.421 0.225 0.0 1.0</diffuse>
</material>
</visual>
</link>
<joint name="rod_2_joint" type="revolute">
<parent>body</parent>
<child>rod_2</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<limit>
<lower>-1e16</lower>
<upper>1e16</upper>
</limit>
<xyz>0.0 0.0 1.0</xyz>
<dynamics>
<damping>0.0001</damping>
</dynamics>
</axis>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint>
<link name="blade_3">
<pose>0 0 1.7 0 0 0</pose>
<inertial>
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
<inertia>
<ixx>0.0000465</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0000006</iyy>
<iyz>0.0</iyz>
<izz>0.0000470</izz>
</inertia>
<mass>0.01</mass>
</inertial>
<collision name="collision">
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.2 1.0 0.01</size>
</box>
</geometry>
</collision>
<visual name="visual">
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.2 1.0 0.01</size>
</box>
</geometry>
<material>
<ambient>0.5 0.2 0.2 1.0</ambient>
<diffuse>.421 0.225 0.0 1.0</diffuse>
</material>
</visual>
</link>
<link name="blade_4">
<pose>0 0 1.7 0 0 3.141593</pose>
<inertial>
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
<inertia>
<ixx>0.0000465</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.0000006</iyy>
<iyz>0.0</iyz>
<izz>0.0000470</izz>
</inertia>
<mass>0.01</mass>
</inertial>
<collision name="collision">
<pose>0.0 0.5 0 0.0 0.0 0.0</pose>
<geometry>
<box>
<size>0.2 1.0 0.01</size>
</box>
</geometry>
</collision>
<visual name="visual">
<pose>0.0 0.5 0 0.0 0.0 0</pose>
<geometry>
<box>
<size>0.2 1.0 0.01</size>
</box>
</geometry>
<material>
<ambient>0.2 0.5 0.2 1.0</ambient>
<diffuse>.421 0.225 0.0 1.0</diffuse>
</material>
</visual>
</link>
<joint name="blade_3_joint" type="revolute">
<parent>rod_2</parent>
<child>blade_3</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<limit>
<lower>-0.0</lower>
<upper>0.0</upper>
</limit>
<xyz>0.0 1.0 0.0</xyz>
<dynamics>
<damping>1.000000</damping>
</dynamics>
</axis>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint>
<joint name="blade_4_joint" type="revolute">
<parent>rod_2</parent>
<child>blade_4</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<limit>
<lower>-0.0</lower>
<upper>0.0</upper>
</limit>
<xyz>0.0 -1.0 0.0</xyz>
<dynamics>
<damping>1.000000</damping>
</dynamics>
</axis>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint>
<!-- -->
<joint name="gear_joint" type="gearbox">
<parent>rod_1</parent>
<child>rod_2</child>
<gearbox_ratio>-1.0</gearbox_ratio>
<gearbox_reference_body>body</gearbox_reference_body>
<axis>
<xyz>0.000000 0.000000 -1.000000</xyz>
</axis>
<axis2>
<xyz>0.000000 0.000000 1.000000</xyz>
</axis2>
</joint>
<plugin name="gazebo_blade_1" filename="libLiftDragPlugin.so">
<a0>0.1</a0>
<cla>0.100</cla>
<cda>0.001</cda>
<cma>0.00</cma>
<cp>0.05 0.5 0</cp>
<area>0.2</area>
<air_density>1.2041</air_density>
<forward>1 0 0</forward>
<upward>0 0 1</upward>
<link_name>lift_drag_demo_model::blade_1</link_name>
</plugin>
<plugin name="gazebo_blade_2" filename="libLiftDragPlugin.so">
<a0>0.1</a0>
<cla>0.100</cla>
<cda>0.001</cda>
<cma>0.00</cma>
<cp>0.05 0.5 0</cp>
<area>0.2</area>
<air_density>1.2041</air_density>
<forward>1 0 0</forward>
<upward>0 0 1</upward>
<link_name>lift_drag_demo_model::blade_2</link_name>
</plugin>
<plugin name="gazebo_blade_3" filename="libLiftDragPlugin.so">
<a0>0.1</a0>
<cla>0.100</cla>
<cda>0.001</cda>
<cma>0.00</cma>
<cp>0.05 0.5 0</cp>
<area>0.2</area>
<air_density>1.2041</air_density>
<forward>-1 0 0</forward>
<upward>0 0 1</upward>
<link_name>lift_drag_demo_model::blade_3</link_name>
</plugin>
<plugin name="gazebo_blade_4" filename="libLiftDragPlugin.so">
<a0>0.1</a0>
<cla>0.100</cla>
<cda>0.001</cda>
<cma>0.00</cma>
<cp>0.05 0.5 0</cp>
<area>0.2</area>
<air_density>1.2041</air_density>
<forward>-1 0 0</forward>
<upward>0 0 1</upward>
<link_name>lift_drag_demo_model::blade_4</link_name>
</plugin>
<!-- drag for body
<plugin name="gazebo_body_1" filename="libLiftDragPlugin.so">
<a0>0.0</a0>
<cla>0.000</cla>
<cda>1.000</cda>
<cma>0.00</cma>
<cp>0.0 0 0</cp>
<area>1.0</area>
<air_density>1.2041</air_density>
<forward>1 0 0</forward>
<upward>0 0 1</upward>
<link_name>lift_drag_demo_model::blade_4</link_name>
</plugin>
<plugin name="gazebo_body_2" filename="libLiftDragPlugin.so">
<a0>0.0</a0>
<cla>0.000</cla>
<cda>1.000</cda>
<cma>0.00</cma>
<cp>0.0 0 0</cp>
<area>1.0</area>
<air_density>1.2041</air_density>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>lift_drag_demo_model::blade_4</link_name>
</plugin>
-->
</model>
</world>
</sdf>
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