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ppovb5fc7/gazebo/worlds/torsional_friction_demo.world

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首次提交
2019-03-04 17:11:56 +08:00
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<gui>
<camera name="user_camera">
<pose>7 -3 2.5 0 0.27 2.35</pose>
</camera>
</gui>
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<model name='sphere_1'>
<allow_auto_disable>0</allow_auto_disable>
<pose>0.4 0 0.1 0 0 0</pose>
<link name="link">
<inertial>
<mass>11.309733552923259</mass>
<inertia>
<ixx>0.045238934211693047</ixx>
<iyy>0.045238934211693047</iyy>
<izz>0.045238934211693047</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.0</mu>
<mu2>0.0</mu2>
</ode>
<torsional>
<coefficient>0.0</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
<contact>
<ode>
<kp>500000</kp>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CoM</name>
</script>
</material>
</visual>
</link>
<plugin name='sphere_1' filename='libInitialVelocityPlugin.so'>
<linear>0 0 0</linear>
<angular>0 0 6.283185307179586</angular>
</plugin>
</model>
<model name='sphere_2'>
<allow_auto_disable>0</allow_auto_disable>
<pose>0.8 0 0.1 0 0 0</pose>
<link name="link">
<inertial>
<mass>11.309733552923259</mass>
<inertia>
<ixx>0.045238934211693047</ixx>
<iyy>0.045238934211693047</iyy>
<izz>0.045238934211693047</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.001</mu>
<mu2>0.001</mu2>
</ode>
<torsional>
<coefficient>0.001</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
<contact>
<ode>
<kp>500000</kp>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CoM</name>
</script>
</material>
</visual>
</link>
<plugin name='sphere_2' filename='libInitialVelocityPlugin.so'>
<linear>0 0 0</linear>
<angular>0 0 6.283185307179586</angular>
</plugin>
</model>
<model name='sphere_3'>
<allow_auto_disable>0</allow_auto_disable>
<pose>1.2000000000000002 0 0.1 0 0 0</pose>
<link name="link">
<inertial>
<mass>11.309733552923259</mass>
<inertia>
<ixx>0.045238934211693047</ixx>
<iyy>0.045238934211693047</iyy>
<izz>0.045238934211693047</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.005</mu>
<mu2>0.005</mu2>
</ode>
<torsional>
<coefficient>0.005</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
<contact>
<ode>
<kp>500000</kp>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CoM</name>
</script>
</material>
</visual>
</link>
<plugin name='sphere_3' filename='libInitialVelocityPlugin.so'>
<linear>0 0 0</linear>
<angular>0 0 6.283185307179586</angular>
</plugin>
</model>
<model name='sphere_4'>
<allow_auto_disable>0</allow_auto_disable>
<pose>1.6 0 0.1 0 0 0</pose>
<link name="link">
<inertial>
<mass>11.309733552923259</mass>
<inertia>
<ixx>0.045238934211693047</ixx>
<iyy>0.045238934211693047</iyy>
<izz>0.045238934211693047</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0.01</mu>
<mu2>0.01</mu2>
</ode>
<torsional>
<coefficient>0.01</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
<contact>
<ode>
<kp>500000</kp>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CoM</name>
</script>
</material>
</visual>
</link>
<plugin name='sphere_4' filename='libInitialVelocityPlugin.so'>
<linear>0 0 0</linear>
<angular>0 0 6.283185307179586</angular>
</plugin>
</model>
<model name='sphere_5'>
<allow_auto_disable>0</allow_auto_disable>
<pose>2.0 0 0.1 0 0 0</pose>
<link name="link">
<inertial>
<mass>11.309733552923259</mass>
<inertia>
<ixx>0.045238934211693047</ixx>
<iyy>0.045238934211693047</iyy>
<izz>0.045238934211693047</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
<torsional>
<coefficient>1.0</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
<contact>
<ode>
<kp>500000</kp>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/CoM</name>
</script>
</material>
</visual>
</link>
<plugin name='sphere_5' filename='libInitialVelocityPlugin.so'>
<linear>0 0 0</linear>
<angular>0 0 6.283185307179586</angular>
</plugin>
</model>
<model name='box_1'>
<allow_auto_disable>0</allow_auto_disable>
<pose>0.692820323027551 2 0.17320508075688776 0.7853981633974483 0.6154797086703873 0</pose>
<link name="link">
<inertial>
<mass>21.6</mass>
<inertia>
<ixx>0.14400000000000004</ixx>
<iyy>0.14400000000000004</iyy>
<izz>0.14400000000000004</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.0</mu>
<mu2>0.0</mu2>
</ode>
<torsional>
<coefficient>0.0</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
</visual>
</link>
<plugin name='box_1' filename='libInitialVelocityPlugin.so'>
<linear>0 0 0</linear>
<angular>0 0 6.283185307179586</angular>
</plugin>
</model>
<model name='box_2'>
<allow_auto_disable>0</allow_auto_disable>
<pose>1.385640646055102 2 0.17320508075688776 0.7853981633974483 0.6154797086703873 0</pose>
<link name="link">
<inertial>
<mass>21.6</mass>
<inertia>
<ixx>0.14400000000000004</ixx>
<iyy>0.14400000000000004</iyy>
<izz>0.14400000000000004</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.001</mu>
<mu2>0.001</mu2>
</ode>
<torsional>
<coefficient>0.001</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
</visual>
</link>
<plugin name='box_2' filename='libInitialVelocityPlugin.so'>
<linear>0 0 0</linear>
<angular>0 0 6.283185307179586</angular>
</plugin>
</model>
<model name='box_3'>
<allow_auto_disable>0</allow_auto_disable>
<pose>2.078460969082653 2 0.17320508075688776 0.7853981633974483 0.6154797086703873 0</pose>
<link name="link">
<inertial>
<mass>21.6</mass>
<inertia>
<ixx>0.14400000000000004</ixx>
<iyy>0.14400000000000004</iyy>
<izz>0.14400000000000004</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.005</mu>
<mu2>0.005</mu2>
</ode>
<torsional>
<coefficient>0.005</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
</visual>
</link>
<plugin name='box_3' filename='libInitialVelocityPlugin.so'>
<linear>0 0 0</linear>
<angular>0 0 6.283185307179586</angular>
</plugin>
</model>
<model name='box_4'>
<allow_auto_disable>0</allow_auto_disable>
<pose>2.771281292110204 2 0.17320508075688776 0.7853981633974483 0.6154797086703873 0</pose>
<link name="link">
<inertial>
<mass>21.6</mass>
<inertia>
<ixx>0.14400000000000004</ixx>
<iyy>0.14400000000000004</iyy>
<izz>0.14400000000000004</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.01</mu>
<mu2>0.01</mu2>
</ode>
<torsional>
<coefficient>0.01</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
</visual>
</link>
<plugin name='box_4' filename='libInitialVelocityPlugin.so'>
<linear>0 0 0</linear>
<angular>0 0 6.283185307179586</angular>
</plugin>
</model>
<model name='box_5'>
<allow_auto_disable>0</allow_auto_disable>
<pose>3.4641016151377553 2 0.17320508075688776 0.7853981633974483 0.6154797086703873 0</pose>
<link name="link">
<inertial>
<mass>21.6</mass>
<inertia>
<ixx>0.14400000000000004</ixx>
<iyy>0.14400000000000004</iyy>
<izz>0.14400000000000004</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
<torsional>
<coefficient>1.0</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
</visual>
</link>
<plugin name='box_5' filename='libInitialVelocityPlugin.so'>
<linear>0 0 0</linear>
<angular>0 0 6.283185307179586</angular>
</plugin>
</model>
<model name='box_low_cog_1'>
<allow_auto_disable>0</allow_auto_disable>
<pose>0.692820323027551 4 0.17320508075688776 0.7853981633974483 0.6154797086703873 0</pose>
<link name="link">
<inertial>
<pose>1 -1 -1 0 0 0</pose>
<mass>21.6</mass>
<inertia>
<ixx>0.14400000000000004</ixx>
<iyy>0.14400000000000004</iyy>
<izz>0.14400000000000004</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.0</mu>
<mu2>0.0</mu2>
</ode>
<torsional>
<coefficient>0.0</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
</visual>
</link>
<plugin name='box_low_cog_1' filename='libInitialVelocityPlugin.so'>
<linear>0 0 0</linear>
<angular>0 0 6.283185307179586</angular>
</plugin>
</model>
<model name='box_low_cog_2'>
<allow_auto_disable>0</allow_auto_disable>
<pose>1.385640646055102 4 0.17320508075688776 0.7853981633974483 0.6154797086703873 0</pose>
<link name="link">
<inertial>
<pose>1 -1 -1 0 0 0</pose>
<mass>21.6</mass>
<inertia>
<ixx>0.14400000000000004</ixx>
<iyy>0.14400000000000004</iyy>
<izz>0.14400000000000004</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.001</mu>
<mu2>0.001</mu2>
</ode>
<torsional>
<coefficient>0.001</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
</visual>
</link>
<plugin name='box_low_cog_2' filename='libInitialVelocityPlugin.so'>
<linear>0 0 0</linear>
<angular>0 0 6.283185307179586</angular>
</plugin>
</model>
<model name='box_low_cog_3'>
<allow_auto_disable>0</allow_auto_disable>
<pose>2.078460969082653 4 0.17320508075688776 0.7853981633974483 0.6154797086703873 0</pose>
<link name="link">
<inertial>
<pose>1 -1 -1 0 0 0</pose>
<mass>21.6</mass>
<inertia>
<ixx>0.14400000000000004</ixx>
<iyy>0.14400000000000004</iyy>
<izz>0.14400000000000004</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.005</mu>
<mu2>0.005</mu2>
</ode>
<torsional>
<coefficient>0.005</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
</visual>
</link>
<plugin name='box_low_cog_3' filename='libInitialVelocityPlugin.so'>
<linear>0 0 0</linear>
<angular>0 0 6.283185307179586</angular>
</plugin>
</model>
<model name='box_low_cog_4'>
<allow_auto_disable>0</allow_auto_disable>
<pose>2.771281292110204 4 0.17320508075688776 0.7853981633974483 0.6154797086703873 0</pose>
<link name="link">
<inertial>
<pose>1 -1 -1 0 0 0</pose>
<mass>21.6</mass>
<inertia>
<ixx>0.14400000000000004</ixx>
<iyy>0.14400000000000004</iyy>
<izz>0.14400000000000004</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.01</mu>
<mu2>0.01</mu2>
</ode>
<torsional>
<coefficient>0.01</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
</visual>
</link>
<plugin name='box_low_cog_4' filename='libInitialVelocityPlugin.so'>
<linear>0 0 0</linear>
<angular>0 0 6.283185307179586</angular>
</plugin>
</model>
<model name='box_low_cog_5'>
<allow_auto_disable>0</allow_auto_disable>
<pose>3.4641016151377553 4 0.17320508075688776 0.7853981633974483 0.6154797086703873 0</pose>
<link name="link">
<inertial>
<pose>1 -1 -1 0 0 0</pose>
<mass>21.6</mass>
<inertia>
<ixx>0.14400000000000004</ixx>
<iyy>0.14400000000000004</iyy>
<izz>0.14400000000000004</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
<torsional>
<coefficient>1.0</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
</visual>
</link>
<plugin name='box_low_cog_5' filename='libInitialVelocityPlugin.so'>
<linear>0 0 0</linear>
<angular>0 0 6.283185307179586</angular>
</plugin>
</model>
<model name='pinch_1'>
<allow_auto_disable>0</allow_auto_disable>
<pose>1.2043255373859678 6 0.6021627686929839 0 0 0</pose>
<link name="box">
<self_collide>true</self_collide>
<pose>-0.24000000000000005 0 0 0 1.5707963267948966 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>16.0</mass>
<inertia>
<ixx>0.4801333333333334</ixx>
<iyy>0.48333333333333345</iyy>
<izz>0.0034666666666666674</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.05 0.010000000000000002 0.6000000000000001</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1000.0</mu>
<mu2>1000.0</mu2>
</ode>
<torsional>
<coefficient>0.0</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.05 0.010000000000000002 0.6000000000000001</size>
</box>
</geometry>
</visual>
</link>
<link name="sphere_1">
<pose>0 0.015000000000000003 0 0 0 0</pose>
<collision name="collision">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1000.0</mu>
<mu2>1000.0</mu2>
</ode>
<torsional>
<coefficient>0.0</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
</visual>
</link>
<link name="sphere_2">
<pose>0 -0.015000000000000003 0 0 0 0</pose>
<collision name="collision">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1000.0</mu>
<mu2>1000.0</mu2>
</ode>
<torsional>
<coefficient>0.0</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
</visual>
</link>
<joint name = "joint_1" type="prismatic">
<parent>world</parent>
<child>sphere_1</child>
<axis>
<xyz>0 -1 0</xyz>
<dynamics>
<damping>100</damping>
<spring_stiffness>1000000</spring_stiffness>
<spring_reference>0.002</spring_reference>
</dynamics>
</axis>
</joint>
<joint name = "joint_2" type="prismatic">
<parent>world</parent>
<child>sphere_2</child>
<axis>
<xyz>0 1 0</xyz>
<dynamics>
<damping>100</damping>
<spring_stiffness>1000000</spring_stiffness>
<spring_reference>0.002</spring_reference>
</dynamics>
</axis>
</joint>
</model>
<model name='pinch_2'>
<allow_auto_disable>0</allow_auto_disable>
<pose>2.4086510747719356 6 0.6021627686929839 0 0 0</pose>
<link name="box">
<self_collide>true</self_collide>
<pose>-0.24000000000000005 0 0 0 1.5707963267948966 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>16.0</mass>
<inertia>
<ixx>0.4801333333333334</ixx>
<iyy>0.48333333333333345</iyy>
<izz>0.0034666666666666674</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.05 0.010000000000000002 0.6000000000000001</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1000.0</mu>
<mu2>1000.0</mu2>
</ode>
<torsional>
<coefficient>0.001</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.05 0.010000000000000002 0.6000000000000001</size>
</box>
</geometry>
</visual>
</link>
<link name="sphere_1">
<pose>0 0.015000000000000003 0 0 0 0</pose>
<collision name="collision">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1000.0</mu>
<mu2>1000.0</mu2>
</ode>
<torsional>
<coefficient>0.001</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
</visual>
</link>
<link name="sphere_2">
<pose>0 -0.015000000000000003 0 0 0 0</pose>
<collision name="collision">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1000.0</mu>
<mu2>1000.0</mu2>
</ode>
<torsional>
<coefficient>0.001</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
</visual>
</link>
<joint name = "joint_1" type="prismatic">
<parent>world</parent>
<child>sphere_1</child>
<axis>
<xyz>0 -1 0</xyz>
<dynamics>
<damping>100</damping>
<spring_stiffness>1000000</spring_stiffness>
<spring_reference>0.002</spring_reference>
</dynamics>
</axis>
</joint>
<joint name = "joint_2" type="prismatic">
<parent>world</parent>
<child>sphere_2</child>
<axis>
<xyz>0 1 0</xyz>
<dynamics>
<damping>100</damping>
<spring_stiffness>1000000</spring_stiffness>
<spring_reference>0.002</spring_reference>
</dynamics>
</axis>
</joint>
</model>
<model name='pinch_3'>
<allow_auto_disable>0</allow_auto_disable>
<pose>3.6129766121579037 6 0.6021627686929839 0 0 0</pose>
<link name="box">
<self_collide>true</self_collide>
<pose>-0.24000000000000005 0 0 0 1.5707963267948966 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>16.0</mass>
<inertia>
<ixx>0.4801333333333334</ixx>
<iyy>0.48333333333333345</iyy>
<izz>0.0034666666666666674</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.05 0.010000000000000002 0.6000000000000001</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1000.0</mu>
<mu2>1000.0</mu2>
</ode>
<torsional>
<coefficient>0.005</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.05 0.010000000000000002 0.6000000000000001</size>
</box>
</geometry>
</visual>
</link>
<link name="sphere_1">
<pose>0 0.015000000000000003 0 0 0 0</pose>
<collision name="collision">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1000.0</mu>
<mu2>1000.0</mu2>
</ode>
<torsional>
<coefficient>0.005</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
</visual>
</link>
<link name="sphere_2">
<pose>0 -0.015000000000000003 0 0 0 0</pose>
<collision name="collision">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1000.0</mu>
<mu2>1000.0</mu2>
</ode>
<torsional>
<coefficient>0.005</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
</visual>
</link>
<joint name = "joint_1" type="prismatic">
<parent>world</parent>
<child>sphere_1</child>
<axis>
<xyz>0 -1 0</xyz>
<dynamics>
<damping>100</damping>
<spring_stiffness>1000000</spring_stiffness>
<spring_reference>0.002</spring_reference>
</dynamics>
</axis>
</joint>
<joint name = "joint_2" type="prismatic">
<parent>world</parent>
<child>sphere_2</child>
<axis>
<xyz>0 1 0</xyz>
<dynamics>
<damping>100</damping>
<spring_stiffness>1000000</spring_stiffness>
<spring_reference>0.002</spring_reference>
</dynamics>
</axis>
</joint>
</model>
<model name='pinch_4'>
<allow_auto_disable>0</allow_auto_disable>
<pose>4.817302149543871 6 0.6021627686929839 0 0 0</pose>
<link name="box">
<self_collide>true</self_collide>
<pose>-0.24000000000000005 0 0 0 1.5707963267948966 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>16.0</mass>
<inertia>
<ixx>0.4801333333333334</ixx>
<iyy>0.48333333333333345</iyy>
<izz>0.0034666666666666674</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.05 0.010000000000000002 0.6000000000000001</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1000.0</mu>
<mu2>1000.0</mu2>
</ode>
<torsional>
<coefficient>0.006</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.05 0.010000000000000002 0.6000000000000001</size>
</box>
</geometry>
</visual>
</link>
<link name="sphere_1">
<pose>0 0.015000000000000003 0 0 0 0</pose>
<collision name="collision">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1000.0</mu>
<mu2>1000.0</mu2>
</ode>
<torsional>
<coefficient>0.006</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
</visual>
</link>
<link name="sphere_2">
<pose>0 -0.015000000000000003 0 0 0 0</pose>
<collision name="collision">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1000.0</mu>
<mu2>1000.0</mu2>
</ode>
<torsional>
<coefficient>0.006</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
</visual>
</link>
<joint name = "joint_1" type="prismatic">
<parent>world</parent>
<child>sphere_1</child>
<axis>
<xyz>0 -1 0</xyz>
<dynamics>
<damping>100</damping>
<spring_stiffness>1000000</spring_stiffness>
<spring_reference>0.002</spring_reference>
</dynamics>
</axis>
</joint>
<joint name = "joint_2" type="prismatic">
<parent>world</parent>
<child>sphere_2</child>
<axis>
<xyz>0 1 0</xyz>
<dynamics>
<damping>100</damping>
<spring_stiffness>1000000</spring_stiffness>
<spring_reference>0.002</spring_reference>
</dynamics>
</axis>
</joint>
</model>
<model name='pinch_5'>
<allow_auto_disable>0</allow_auto_disable>
<pose>6.021627686929839 6 0.6021627686929839 0 0 0</pose>
<link name="box">
<self_collide>true</self_collide>
<pose>-0.24000000000000005 0 0 0 1.5707963267948966 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>16.0</mass>
<inertia>
<ixx>0.4801333333333334</ixx>
<iyy>0.48333333333333345</iyy>
<izz>0.0034666666666666674</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.05 0.010000000000000002 0.6000000000000001</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1000.0</mu>
<mu2>1000.0</mu2>
</ode>
<torsional>
<coefficient>1.0</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.05 0.010000000000000002 0.6000000000000001</size>
</box>
</geometry>
</visual>
</link>
<link name="sphere_1">
<pose>0 0.015000000000000003 0 0 0 0</pose>
<collision name="collision">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1000.0</mu>
<mu2>1000.0</mu2>
</ode>
<torsional>
<coefficient>1.0</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
</visual>
</link>
<link name="sphere_2">
<pose>0 -0.015000000000000003 0 0 0 0</pose>
<collision name="collision">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>1000.0</mu>
<mu2>1000.0</mu2>
</ode>
<torsional>
<coefficient>1.0</coefficient>
<patch_radius>2.0</patch_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.010000000000000002</radius>
</sphere>
</geometry>
</visual>
</link>
<joint name = "joint_1" type="prismatic">
<parent>world</parent>
<child>sphere_1</child>
<axis>
<xyz>0 -1 0</xyz>
<dynamics>
<damping>100</damping>
<spring_stiffness>1000000</spring_stiffness>
<spring_reference>0.002</spring_reference>
</dynamics>
</axis>
</joint>
<joint name = "joint_2" type="prismatic">
<parent>world</parent>
<child>sphere_2</child>
<axis>
<xyz>0 1 0</xyz>
<dynamics>
<damping>100</damping>
<spring_stiffness>1000000</spring_stiffness>
<spring_reference>0.002</spring_reference>
</dynamics>
</axis>
</joint>
</model>
</world>
</sdf>