1074 lines
29 KiB
Plaintext
1074 lines
29 KiB
Plaintext
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<?xml version="1.0" ?>
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<!-- this file was generated using embedded ruby -->
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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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<type>quick</type>
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<iters>1000</iters>
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<precon_iters>0</precon_iters>
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<sor>1.0</sor>
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</solver>
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<constraints>
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<cfm>0.000000</cfm>
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<erp>0.200000</erp>
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<contact_max_correcting_vel>1000.0</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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</physics>
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<gui>
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<camera name="user_camera">
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<pose>-4 1.5 1.9 0 0.17 -0.014</pose>
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</camera>
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</gui>
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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='sphere_mass_1'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>0.4 0 0.1 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>0.41887902047863923</mass>
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<inertia>
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<ixx>0.0016755160819145573</ixx>
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<iyy>0.0016755160819145573</iyy>
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<izz>0.0016755160819145573</izz>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<friction>
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<torsional>
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<coefficient>0.005</coefficient>
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</torsional>
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</friction>
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<contact>
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<ode>
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<kp>500000</kp>
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<max_vel>10000</max_vel>
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/CoM</name>
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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='sphere_mass_2'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>0.8 0 0.1 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>4.188790204786391</mass>
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<inertia>
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<ixx>0.01675516081914557</ixx>
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<iyy>0.01675516081914557</iyy>
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<izz>0.01675516081914557</izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<friction>
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<torsional>
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<coefficient>0.005</coefficient>
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</torsional>
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</friction>
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<contact>
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<ode>
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<kp>500000</kp>
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<max_vel>10000</max_vel>
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/CoM</name>
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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='sphere_mass_3'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>1.2000000000000002 0 0.1 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>11.309733552923259</mass>
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<inertia>
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<ixx>0.045238934211693047</ixx>
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<iyy>0.045238934211693047</iyy>
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<izz>0.045238934211693047</izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<friction>
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<torsional>
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<coefficient>0.005</coefficient>
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</torsional>
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</friction>
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<contact>
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<ode>
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<kp>500000</kp>
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<max_vel>10000</max_vel>
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/CoM</name>
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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='sphere_mass_4'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>1.6 0 0.1 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>20.94395102393196</mass>
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<inertia>
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<ixx>0.08377580409572787</ixx>
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<iyy>0.08377580409572787</iyy>
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<izz>0.08377580409572787</izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<friction>
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<torsional>
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<coefficient>0.005</coefficient>
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</torsional>
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</friction>
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<contact>
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<ode>
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<kp>500000</kp>
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<max_vel>10000</max_vel>
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/CoM</name>
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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='sphere_mass_5'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>2.0 0 0.1 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>41.88790204786392</mass>
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<inertia>
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<ixx>0.16755160819145573</ixx>
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<iyy>0.16755160819145573</iyy>
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<izz>0.16755160819145573</izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<friction>
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<torsional>
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<coefficient>0.005</coefficient>
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</torsional>
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</friction>
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<contact>
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<ode>
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<kp>500000</kp>
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<max_vel>10000</max_vel>
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<material>
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<script>
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|
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<uri>file://media/materials/scripts/gazebo.material</uri>
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|
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<name>Gazebo/CoM</name>
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|
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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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||
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||
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||
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<model name='sphere_coefficient_1'>
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<allow_auto_disable>0</allow_auto_disable>
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<pose>0.4 1 0.1 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>11.309733552923259</mass>
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<inertia>
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<ixx>0.045238934211693047</ixx>
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<iyy>0.045238934211693047</iyy>
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<izz>0.045238934211693047</izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<friction>
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<torsional>
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<coefficient>0.0</coefficient>
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<patch_radius>2.0</patch_radius>
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</torsional>
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</friction>
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<contact>
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<ode>
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<kp>500000</kp>
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<material>
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|
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<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/CoM</name>
|
||
|
|
</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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|
|
|
||
|
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<model name='sphere_coefficient_2'>
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|
|
<allow_auto_disable>0</allow_auto_disable>
|
||
|
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<pose>0.8 1 0.1 0 0 0</pose>
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<link name="link">
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<inertial>
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||
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<mass>11.309733552923259</mass>
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<inertia>
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|
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<ixx>0.045238934211693047</ixx>
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<iyy>0.045238934211693047</iyy>
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<izz>0.045238934211693047</izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<surface>
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<friction>
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<torsional>
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|
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<coefficient>0.001</coefficient>
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|
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<patch_radius>2.0</patch_radius>
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|
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</torsional>
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</friction>
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<contact>
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<ode>
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<kp>500000</kp>
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</ode>
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|
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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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<sphere>
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<radius>0.1</radius>
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</sphere>
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</geometry>
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<material>
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|
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<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/CoM</name>
|
||
|
|
</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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|
|
|
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|
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<model name='sphere_coefficient_3'>
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||
|
|
<allow_auto_disable>0</allow_auto_disable>
|
||
|
|
<pose>1.2000000000000002 1 0.1 0 0 0</pose>
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||
|
|
<link name="link">
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||
|
|
<inertial>
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||
|
|
<mass>11.309733552923259</mass>
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||
|
|
<inertia>
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||
|
|
<ixx>0.045238934211693047</ixx>
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<iyy>0.045238934211693047</iyy>
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<izz>0.045238934211693047</izz>
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|
|
<ixy>0.0</ixy>
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||
|
|
<ixz>0.0</ixz>
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||
|
|
<iyz>0.0</iyz>
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||
|
|
</inertia>
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||
|
|
</inertial>
|
||
|
|
<collision name="collision">
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||
|
|
<geometry>
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||
|
|
<sphere>
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||
|
|
<radius>0.1</radius>
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||
|
|
</sphere>
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||
|
|
</geometry>
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||
|
|
<surface>
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||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<coefficient>0.005</coefficient>
|
||
|
|
<patch_radius>2.0</patch_radius>
|
||
|
|
</torsional>
|
||
|
|
</friction>
|
||
|
|
<contact>
|
||
|
|
<ode>
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||
|
|
<kp>500000</kp>
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||
|
|
</ode>
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||
|
|
</contact>
|
||
|
|
</surface>
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||
|
|
</collision>
|
||
|
|
<visual name="visual">
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||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.1</radius>
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||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/CoM</name>
|
||
|
|
</script>
|
||
|
|
</material>
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||
|
|
</visual>
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||
|
|
</link>
|
||
|
|
</model>
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||
|
|
|
||
|
|
<model name='sphere_coefficient_4'>
|
||
|
|
<allow_auto_disable>0</allow_auto_disable>
|
||
|
|
<pose>1.6 1 0.1 0 0 0</pose>
|
||
|
|
<link name="link">
|
||
|
|
<inertial>
|
||
|
|
<mass>11.309733552923259</mass>
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||
|
|
<inertia>
|
||
|
|
<ixx>0.045238934211693047</ixx>
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||
|
|
<iyy>0.045238934211693047</iyy>
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||
|
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<izz>0.045238934211693047</izz>
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||
|
|
<ixy>0.0</ixy>
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||
|
|
<ixz>0.0</ixz>
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||
|
|
<iyz>0.0</iyz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.1</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<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>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name='sphere_coefficient_5'>
|
||
|
|
<allow_auto_disable>0</allow_auto_disable>
|
||
|
|
<pose>2.0 1 0.1 0 0 0</pose>
|
||
|
|
<link name="link">
|
||
|
|
<inertial>
|
||
|
|
<mass>11.309733552923259</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.045238934211693047</ixx>
|
||
|
|
<iyy>0.045238934211693047</iyy>
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||
|
|
<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>
|
||
|
|
<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>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
<model name='sphere_patch_1'>
|
||
|
|
<allow_auto_disable>0</allow_auto_disable>
|
||
|
|
<pose>0.4 2 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>
|
||
|
|
<torsional>
|
||
|
|
<coefficient>0.005</coefficient>
|
||
|
|
<patch_radius>0.0</patch_radius>
|
||
|
|
<use_patch_radius>true</use_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>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name='sphere_patch_2'>
|
||
|
|
<allow_auto_disable>0</allow_auto_disable>
|
||
|
|
<pose>0.8 2 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>
|
||
|
|
<torsional>
|
||
|
|
<coefficient>0.005</coefficient>
|
||
|
|
<patch_radius>0.1</patch_radius>
|
||
|
|
<use_patch_radius>true</use_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>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name='sphere_patch_3'>
|
||
|
|
<allow_auto_disable>0</allow_auto_disable>
|
||
|
|
<pose>1.2000000000000002 2 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>
|
||
|
|
<torsional>
|
||
|
|
<coefficient>0.005</coefficient>
|
||
|
|
<patch_radius>2.0</patch_radius>
|
||
|
|
<use_patch_radius>true</use_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>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name='sphere_patch_4'>
|
||
|
|
<allow_auto_disable>0</allow_auto_disable>
|
||
|
|
<pose>1.6 2 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>
|
||
|
|
<torsional>
|
||
|
|
<coefficient>0.005</coefficient>
|
||
|
|
<patch_radius>5.0</patch_radius>
|
||
|
|
<use_patch_radius>true</use_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>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name='sphere_patch_5'>
|
||
|
|
<allow_auto_disable>0</allow_auto_disable>
|
||
|
|
<pose>2.0 2 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>
|
||
|
|
<torsional>
|
||
|
|
<coefficient>0.005</coefficient>
|
||
|
|
<patch_radius>10.0</patch_radius>
|
||
|
|
<use_patch_radius>true</use_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>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
<model name='sphere_radius_1'>
|
||
|
|
<allow_auto_disable>0</allow_auto_disable>
|
||
|
|
<pose>0.04 3 0.01 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>0.01</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<coefficient>0.005</coefficient>
|
||
|
|
<surface_radius>0.01</surface_radius>
|
||
|
|
<use_patch_radius>false</use_patch_radius>
|
||
|
|
</torsional>
|
||
|
|
</friction>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>500000</kp>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.01</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/CoM</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name='sphere_radius_2'>
|
||
|
|
<allow_auto_disable>0</allow_auto_disable>
|
||
|
|
<pose>0.8 3 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>
|
||
|
|
<torsional>
|
||
|
|
<coefficient>0.005</coefficient>
|
||
|
|
<surface_radius>0.1</surface_radius>
|
||
|
|
<use_patch_radius>false</use_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>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name='sphere_radius_3'>
|
||
|
|
<allow_auto_disable>0</allow_auto_disable>
|
||
|
|
<pose>9.600000000000001 3 0.8 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>0.8</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<coefficient>0.005</coefficient>
|
||
|
|
<surface_radius>0.8</surface_radius>
|
||
|
|
<use_patch_radius>false</use_patch_radius>
|
||
|
|
</torsional>
|
||
|
|
</friction>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>500000</kp>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>0.8</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/CoM</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name='sphere_radius_4'>
|
||
|
|
<allow_auto_disable>0</allow_auto_disable>
|
||
|
|
<pose>32.0 3 2.0 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>2.0</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<coefficient>0.005</coefficient>
|
||
|
|
<surface_radius>2.0</surface_radius>
|
||
|
|
<use_patch_radius>false</use_patch_radius>
|
||
|
|
</torsional>
|
||
|
|
</friction>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>500000</kp>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>2.0</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/CoM</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
<model name='sphere_radius_5'>
|
||
|
|
<allow_auto_disable>0</allow_auto_disable>
|
||
|
|
<pose>200.0 3 10.0 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>10.0</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<coefficient>0.005</coefficient>
|
||
|
|
<surface_radius>10.0</surface_radius>
|
||
|
|
<use_patch_radius>false</use_patch_radius>
|
||
|
|
</torsional>
|
||
|
|
</friction>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<kp>500000</kp>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<sphere>
|
||
|
|
<radius>10.0</radius>
|
||
|
|
</sphere>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/CoM</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
|
||
|
|
|
||
|
|
</world>
|
||
|
|
</sdf>
|