127 lines
3.7 KiB
XML
127 lines
3.7 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.4">
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<world name="default">
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<physics type="ode">
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<gravity>0.100000 0.000000 -9.810000</gravity>
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<ode>
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<solver>
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<type>quick</type>
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<iters>250</iters>
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<precon_iters>0</precon_iters>
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<sor>1.400000</sor>
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<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
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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>0.000000</contact_max_correcting_vel>
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<contact_surface_layer>0.00000</contact_surface_layer>
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</constraints>
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</ode>
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<bullet>
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<solver>
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<type>sequential_impulse</type>
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<iters>250</iters>
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<sor>1.400000</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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<split_impulse>true</split_impulse>
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<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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<contact_surface_layer>0.01000</contact_surface_layer>
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</constraints>
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</bullet>
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<simbody>
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<accuracy>0.001</accuracy>
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<max_transient_velocity>0.01</max_transient_velocity>
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<contact>
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<stiffness>1e8</stiffness>
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<dissipation>10</dissipation>
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<static_friction>0.15</static_friction>
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<dynamic_friction>0.1</dynamic_friction>
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<viscous_friction>0.0</viscous_friction>
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</contact>
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</simbody>
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<real_time_update_rate>1000.000000</real_time_update_rate>
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<max_step_size>0.001000</max_step_size>
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</physics>
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<model name="inertia_ratio">
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<pose>0 0 0.9 0.7853981633974483 0 0</pose>
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<link name="upper_link">
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<pose>0 0 -0.05 0 0 0</pose>
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<inertial>
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<mass>0.02700000000000001</mass>
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<inertia>
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<ixx>2.272500000000001e-05</ixx>
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<iyy>2.272500000000001e-05</iyy>
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<izz>4.5000000000000035e-07</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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<box>
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<size>0.010000000000000002 0.010000000000000002 0.1</size>
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</box>
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</geometry>
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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>0.010000000000000002 0.010000000000000002 0.1</size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name="upper_joint" type="revolute">
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<pose>0 0 0.05 0 0 0</pose>
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<parent>world</parent>
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<child>upper_link</child>
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<axis>
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<xyz>1 0 0</xyz>
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</axis>
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</joint>
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<link name="lower_link">
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<pose>0 0.17677669529663687 -0.2767766952966369 0.7853981633974483 0 0</pose>
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<inertial>
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<mass>3.375</mass>
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<inertia>
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<ixx>0.071015625</ixx>
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<iyy>0.071015625</iyy>
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<izz>0.0014062500000000004</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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<box>
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<size>0.05 0.05 0.5</size>
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</box>
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</geometry>
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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>0.05 0.05 0.5</size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name="lower_joint" type="revolute">
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<pose>0 0 0.25 0 0 0</pose>
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<parent>upper_link</parent>
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<child>lower_link</child>
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<axis>
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<xyz>1 0 0</xyz>
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</axis>
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</joint>
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</model>
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</world>
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</sdf>
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