112 lines
3.2 KiB
Plaintext
112 lines
3.2 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<world name="default">
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<include>
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<uri>model://sun</uri>
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</include>
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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://double_pendulum_with_base</uri>
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<name>pendulum_thick_mud</name>
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<pose>-2.0 0 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://double_pendulum_with_base</uri>
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<name>pendulum_thin_mud</name>
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<pose>0 0 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://double_pendulum_with_base</uri>
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<name>pendulum_no_mud</name>
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<pose>2.0 0 0 0 0 0</pose>
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</include>
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<model name="mud_pit_thin">
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<pose>0 -1.0 0.7 0 0 0</pose>
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>5 1 0.2</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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<collide_without_contact>true</collide_without_contact>
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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>5 1 0.2</size>
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</box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.2 1.0</ambient>
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<diffuse>.421 0.225 0.0 1.0</diffuse>
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</material>
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</visual>
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<sensor name="mud_contact" type="contact">
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<always_on>true</always_on>
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<update_rate>1000</update_rate>
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<contact>
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<collision>collision</collision>
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</contact>
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</sensor>
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</link>
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<plugin name="gazebo_mud" filename="libMudPlugin.so">
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<contact_sensor_name>link/mud_contact</contact_sensor_name>
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<stiffness>0.0</stiffness>
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<damping>1.0</damping>
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<link_name>pendulum_thin_mud::lower_link</link_name>
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<link_name>pendulum_thick_mud::lower_link</link_name>
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</plugin>
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</model>
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<model name="mud_pit_thick">
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<pose>0.0 -1.0 1.0 0 0 0</pose>
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>5 1 0.2</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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<collide_without_contact>true</collide_without_contact>
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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>5 1 0.2</size>
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</box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.2 1.0</ambient>
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<diffuse>.421 0.225 0.0 1.0</diffuse>
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</material>
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</visual>
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<sensor name="mud_contact" type="contact">
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<always_on>true</always_on>
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<update_rate>1000</update_rate>
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<contact>
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<collision>collision</collision>
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</contact>
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</sensor>
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</link>
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<plugin name="gazebo_mud" filename="libMudPlugin.so">
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<contact_sensor_name>link/mud_contact</contact_sensor_name>
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<stiffness>0.0</stiffness>
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<damping>10.0</damping>
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<link_name>pendulum_thick_mud::lower_link</link_name>
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</plugin>
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</model>
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</world>
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</sdf>
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